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gazebo
physics
simbody
SimbodyCollision.hh
Go to the documentation of this file.
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/*
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* Copyright 2013 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 _SIMBODY_COLLISION_HH_
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#define _SIMBODY_COLLISION_HH_
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#include <string>
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#include "
gazebo/physics/PhysicsTypes.hh
"
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#include "
gazebo/physics/Collision.hh
"
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namespace
SimTK
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{
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class
ContactGeometry;
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}
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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
SimbodyCollision
:
public
Collision
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{
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public
:
SimbodyCollision
(
LinkPtr
_parent);
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public
:
virtual
~SimbodyCollision
();
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// Documentation inherited
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public
:
virtual
void
Load
(sdf::ElementPtr _ptr);
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// Documentation inherited
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public
:
virtual
void
OnPoseChange
();
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// Documentation inherited
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public
:
virtual
void
SetCategoryBits
(
unsigned
int
_bits);
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// Documentation inherited
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public
:
virtual
void
SetCollideBits
(
unsigned
int
_bits);
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// Documentation inherited
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public
:
virtual
math::Box
GetBoundingBox
()
const
;
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public
:
void
SetCollisionShape
(SimTK::ContactGeometry *_shape);
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public
: SimTK::ContactGeometry *
GetCollisionShape
()
const
;
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private
: SimTK::ContactGeometry *collisionShape;
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};
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}
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}
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#endif