DARTHeightmapShape.hh
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2  * Copyright (C) 2014 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_DARTHEIGHTMAPSHAPE_HH_
19 #define _GAZEBO_DARTHEIGHTMAPSHAPE_HH_
20 
21 #include <vector>
22 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
33  template<typename HeightType>
35 
38 
40  class GZ_PHYSICS_VISIBLE DARTHeightmapShape : public HeightmapShape
41  {
44  public: explicit DARTHeightmapShape(DARTCollisionPtr _parent);
45 
47  public: virtual ~DARTHeightmapShape();
48 
49  // Documentation inerited.
50  public: virtual void Init();
51 
52  // Documentation inerited.
53  public: virtual void SetScale(const ignition::math::Vector3d &_scale);
54 
58 
61  private: using Vector3 =
62  Eigen::Matrix<HeightmapShape::HeightType, 3, 1>;
63  };
65  }
66 }
67 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
HeightmapShape collision shape builds a heightmap from an image.
Definition: HeightmapShape.hh:45
DART Height map collision.
Definition: DARTHeightmapShape.hh:40
Forward declare private data class.
Definition: DARTHeightmapShape.hh:34
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:49
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.