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SimbodyRayShape.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 _SIMBODY_RAY_SHAPE_HH_
19 #define _SIMBODY_RAY_SHAPE_HH_
20 
21 #include <string>
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class SimbodyRayShape : public RayShape
34  {
37  public: SimbodyRayShape(PhysicsEnginePtr _physicsEngine);
38 
41  public: SimbodyRayShape(CollisionPtr _collision);
42 
44  public: virtual ~SimbodyRayShape();
45 
46  // Documentation inherited
47  public: virtual void Update();
48 
49  // Documentation inherited
50  public: virtual void GetIntersection(double &_dist, std::string &_entity);
51 
52  // Documentation inherited
53  public: virtual void SetPoints(const math::Vector3 &_posStart,
54  const math::Vector3 &_posEnd);
55 
57  private: SimbodyPhysicsPtr physicsEngine;
58  };
60  }
61 }
62 #endif