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gazebo
physics
simbody
SimbodyMultiRayShape.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GAZEBO_PHYISCS_SIMBODY_SIMBODYMULTIRAYSHAPE_HH_
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#define GAZEBO_PHYISCS_SIMBODY_SIMBODYMULTIRAYSHAPE_HH_
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#include "
gazebo/physics/MultiRayShape.hh
"
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#include "
gazebo/util/system.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
GZ_PHYSICS_VISIBLE
SimbodyMultiRayShape
:
public
MultiRayShape
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{
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public
:
explicit
SimbodyMultiRayShape
(
CollisionPtr
parent);
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public
:
virtual
~
SimbodyMultiRayShape
();
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// Documentation inherited.
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public
:
virtual
void
UpdateRays();
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// Documentation inherited.
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protected
:
virtual
void
AddRay(
const
ignition::math::Vector3d &_start,
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const
ignition::math::Vector3d &_end);
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private
:
SimbodyPhysicsPtr
physicsEngine;
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};
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}
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}
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#endif
gazebo
Forward declarations for the common classes.
Definition:
Animation.hh:26
MultiRayShape.hh
gazebo::physics::MultiRayShape
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner...
Definition:
MultiRayShape.hh:39
system.hh
gazebo::physics::SimbodyPhysicsPtr
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition:
SimbodyTypes.hh:40
gazebo::physics::CollisionPtr
boost::shared_ptr< Collision > CollisionPtr
Definition:
PhysicsTypes.hh:114
gazebo::physics::SimbodyMultiRayShape
Simbody specific version of MultiRayShape.
Definition:
SimbodyMultiRayShape.hh:32