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DARTRayShape.hh
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1 /*
2  * Copyright 2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_DARTRAYSHAPE_HH_
19 #define _GAZEBO_DARTRAYSHAPE_HH_
20 
21 #include <string>
22 
24 #include "gazebo/physics/Shape.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
34 
36  class DARTRayShape : public RayShape
37  {
40  public: explicit DARTRayShape(PhysicsEnginePtr _physicsEngine);
41 
44  public: explicit DARTRayShape(CollisionPtr _collision);
45 
47  public: virtual ~DARTRayShape();
48 
50  public: virtual void Update();
51 
55  public: virtual void GetIntersection(double &_dist, std::string &_entity);
56 
61  public: virtual void SetPoints(const math::Vector3 &_posStart,
62  const math::Vector3 &_posEnd);
63 
65  private: DARTPhysicsPtr physicsEngine;
66  };
67  }
68 }
69 #endif