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CollisionState.hh
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1 /*
2  * Copyright 2012 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 /* Desc: A collision state
18  * Author: Nate Koenig
19  */
20 
21 #ifndef _COLLISIONSTATE_HH_
22 #define _COLLISIONSTATE_HH_
23 
24 #include "gazebo/physics/State.hh"
25 #include "gazebo/math/Pose.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
41  class CollisionState : public State
42  {
44  public: CollisionState();
45 
51  public: explicit CollisionState(const CollisionPtr _collision);
52 
57  public: explicit CollisionState(const sdf::ElementPtr _sdf);
58 
60  public: virtual ~CollisionState();
61 
66  public: virtual void Load(const sdf::ElementPtr _elem);
67 
70  public: const math::Pose &GetPose() const;
71 
74  public: bool IsZero() const;
75 
78  public: void FillSDF(sdf::ElementPtr _sdf);
79 
83  public: CollisionState &operator=(const CollisionState &_state);
84 
88  public: CollisionState operator-(const CollisionState &_state) const;
89 
93  public: CollisionState operator+(const CollisionState &_state) const;
94 
99  public: friend std::ostream &operator<<(std::ostream &_out,
100  const gazebo::physics::CollisionState &_state)
101  {
102  _out << " <collision name='" << _state.name << "'>\n"
103  << " <pose>" << _state.pose << "</pose>\n";
104  _out << " </collision>\n";
105 
106  return _out;
107  }
108 
110  private: math::Pose pose;
111  };
113  }
114 }
115 #endif