InertiaVisual.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2015-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_INERTIAVISUAL_HH_
19 #define _GAZEBO_INERTIAVISUAL_HH_
20 
21 #include <string>
22 
23 #include "gazebo/math/Pose.hh"
25 
26 namespace gazebo
27 {
28  namespace rendering
29  {
32 
35  class GZ_RENDERING_VISIBLE InertiaVisual : public Visual
36  {
40  public: InertiaVisual(const std::string &_name, VisualPtr _vis);
41 
43  public: ~InertiaVisual();
44 
45  // Inherited from parent class
46  public: virtual void Fini();
47 
50  public: virtual void Load(sdf::ElementPtr _elem);
51  using Visual::Load;
52 
55  public: virtual void Load(ConstLinkPtr &_msg);
56 
60  private: void Load(const math::Pose &_pose,
61  const math::Vector3 &_scale = math::Vector3(0.02, 0.02, 0.02));
62 
65  private: void DestroyAllAttachedMovableObjects(
66  Ogre::SceneNode *_sceneNode);
67  };
69  }
70 }
71 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
A renderable object.
Definition: Visual.hh:59
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:112
Basic Inertia visualization.
Definition: InertiaVisual.hh:35
virtual void Load()
Load the visual with default parameters.