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COMVisual.hh
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1 /*
2  * Copyright 2012 Nate Koenig
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 /* Desc: Center of Mass Visualization Class
18  * Author: Nate Koenig
19  */
20 
21 #ifndef _COMVISUAL_HH_
22 #define _COMVISUAL_HH_
23 
24 #include <string>
25 
26 #include "rendering/Visual.hh"
27 #include "msgs/msgs.hh"
28 
29 namespace ogre
30 {
31  class SceneNode;
32 }
33 
34 namespace gazebo
35 {
36  namespace rendering
37  {
40 
41  class DynamicLines;
42 
45  class COMVisual : public Visual
46  {
50  public: COMVisual(const std::string &_name, VisualPtr _vis);
51 
53  public: virtual ~COMVisual();
54 
57  public: virtual void Load(sdf::ElementPtr _elem);
58 
61  public: virtual void Load(ConstLinkPtr &_msg);
62 
65  private: void Load(const math::Pose &_pose);
66 
68  private: DynamicLines *crossLines;
69 
71  private: Ogre::SceneNode *boxNode;
72  };
74  }
75 }
76 #endif