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Road.hh
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1 /*
2  * Copyright (C) 2012-2014 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 _ROAD_HH_
19 #define _ROAD_HH_
20 
21 #include <vector>
22 
24 #include "gazebo/physics/Base.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
32 
35  class Road : public Base
36  {
39  public: explicit Road(BasePtr _parent);
40 
42  public: virtual ~Road();
43 
46  public: void Load(sdf::ElementPtr _sdf);
47 
49  public: virtual void Init();
50 
52  private: double width;
53 
55  private: std::vector<math::Vector3> points;
56 
58  private: transport::NodePtr node;
59 
61  private: transport::PublisherPtr roadPub;
62  };
64  }
65 }
66 #endif