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SimbodyMultiRayShape.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
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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
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17 
18 #ifndef _SIMBODY_MULTIRAYSHAPE_HH_
19 #define _SIMBODY_MULTIRAYSHAPE_HH_
20 
22 
23 namespace gazebo
24 {
25  namespace physics
26  {
30 
33  {
36 
38  public: virtual ~SimbodyMultiRayShape();
39 
40  // Documentation inherited.
41  public: virtual void UpdateRays();
42 
43  // Documentation inherited.
44  protected: virtual void AddRay(const math::Vector3 &_start,
45  const math::Vector3 &_end);
46 
48  private: SimbodyPhysicsPtr physicsEngine;
49  };
51  }
52 }
53 #endif