18 #ifndef _GAZEBO_DARTMODEL_HH_ 19 #define _GAZEBO_DARTMODEL_HH_ 33 class DARTModelPrivate;
52 public:
virtual void Load(sdf::ElementPtr _sdf);
55 public:
virtual void Init();
58 public:
virtual void Update();
61 public:
virtual void Fini();
64 public:
virtual JointPtr CreateJoint(
65 const std::string &_name,
const std::string &_type,
69 public:
virtual JointPtr CreateJoint(sdf::ElementPtr _sdf);
75 public:
virtual bool RemoveJoint(
const std::string &_name);
78 public:
void BackupState();
81 public:
void RestoreState();
85 public: dart::dynamics::SkeletonPtr DARTSkeleton();
97 private: DARTModelPrivate *dataPtr;
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:90
Forward declarations for the common classes.
Definition: Animation.hh:26
DART model class.
Definition: DARTModel.hh:42
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:118
A model is a collection of links, joints, and plugins.
Definition: Model.hh:59
DART wrapper forward declarations and typedefs.
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:43
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78