17 #ifndef GAZEBO_PHYSICS_RAYSHAPE_HH_ 18 #define GAZEBO_PHYSICS_RAYSHAPE_HH_ 52 public:
virtual void SetPoints(
const ignition::math::Vector3d &_posStart,
53 const ignition::math::Vector3d &_posEnd);
57 public: ignition::math::Vector3d Start()
const;
61 public: ignition::math::Vector3d End()
const;
66 public:
virtual void RelativePoints(ignition::math::Vector3d &_posA,
67 ignition::math::Vector3d &_posB);
72 public:
virtual void GlobalPoints(ignition::math::Vector3d &_posA,
73 ignition::math::Vector3d &_posB);
77 public:
virtual void SetLength(
double _len);
81 public:
double GetLength()
const;
84 public:
virtual void SetScale(
const ignition::math::Vector3d &_scale);
87 public:
virtual void Update() = 0;
92 public:
virtual void GetIntersection(
double &_dist,
93 std::string &_entity) = 0;
97 public:
void SetRetro(
float _retro);
101 public: std::string CollisionName()
const;
105 public:
float GetRetro()
const;
109 public:
void SetFiducial(
int _fid);
113 public:
int GetFiducial()
const;
116 public:
virtual void Init();
121 public:
void FillMsg(msgs::Geometry &_msg);
126 public:
virtual void ProcessMsg(
const msgs::Geometry &_msg);
129 public:
virtual double ComputeVolume()
const;
136 protected:
void SetCollisionName(
const std::string &_name);
162 private: std::string collisionName;
Forward declarations for the common classes.
Definition: Animation.hh:26
double contactRetro
Retro reflectance value.
Definition: RayShape.hh:144
Base class for all shapes.
Definition: Shape.hh:39
default namespace for gazebo
ignition::math::Vector3d relativeStartPos
Start position of the ray, relative to the body.
Definition: RayShape.hh:150
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:126
ignition::math::Vector3d relativeEndPos
End position of the ray, relative to the body.
Definition: RayShape.hh:153
ignition::math::Vector3d globalStartPos
Start position of the ray in global cs.
Definition: RayShape.hh:156
int contactFiducial
Fiducial ID value.
Definition: RayShape.hh:147
Base class for Ray collision geometry.
Definition: RayShape.hh:35
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
double contactLen
Length of the ray.
Definition: RayShape.hh:141
ignition::math::Vector3d globalEndPos
End position of the ray in global cs.
Definition: RayShape.hh:159
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:114
ODE specific version of MultiRayShape.
Definition: ODEMultiRayShape.hh:31