DARTMultiRayShape.hh
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1 /*
2  * Copyright (C) 2014-2016 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_DARTMULTIRAYSHAPE_HH_
19 #define _GAZEBO_DARTMULTIRAYSHAPE_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
33  class DARTMultiRayShapePrivate;
34 
36  class GZ_PHYSICS_VISIBLE DARTMultiRayShape : public MultiRayShape
37  {
40  public: explicit DARTMultiRayShape(CollisionPtr _parent);
41 
43  public: virtual ~DARTMultiRayShape();
44 
45  // Documentation inherited.
46  public: virtual void UpdateRays();
47 
51  protected: void AddRay(const math::Vector3 &_start,
52  const math::Vector3 &_end);
53 
56  private: DARTMultiRayShapePrivate *dataPtr;
57  };
59  }
60 }
61 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner...
Definition: MultiRayShape.hh:41
DART specific version of MultiRayShape.
Definition: DARTMultiRayShape.hh:36
DART wrapper forward declarations and typedefs.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104