SimbodyMultiRayShape.hh
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1 /*
2  * Copyright (C) 2012-2016 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 _SIMBODY_MULTIRAYSHAPE_HH_
19 #define _SIMBODY_MULTIRAYSHAPE_HH_
20 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class GZ_PHYSICS_VISIBLE SimbodyMultiRayShape : public MultiRayShape
34  {
36  public: SimbodyMultiRayShape(CollisionPtr parent);
37 
39  public: virtual ~SimbodyMultiRayShape();
40 
41  // Documentation inherited.
42  public: virtual void UpdateRays();
43 
44  // Documentation inherited.
45  protected: virtual void AddRay(const math::Vector3 &_start,
46  const math::Vector3 &_end);
47 
49  private: SimbodyPhysicsPtr physicsEngine;
50  };
52  }
53 }
54 #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
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition: SimbodyTypes.hh:40
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104
Simbody specific version of MultiRayShape.
Definition: SimbodyMultiRayShape.hh:33