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COMVisual.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 _COMVISUAL_HH_
19 #define _COMVISUAL_HH_
20 
21 #include <string>
22 
23 #include <sdf/sdf.hh>
24 
25 #include "gazebo/math/Pose.hh"
26 #include "gazebo/math/Vector3.hh"
27 #include "gazebo/msgs/MessageTypes.hh"
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace rendering
34  {
37 
41  {
45  public: COMVisual(const std::string &_name, VisualPtr _vis);
46 
48  public: virtual ~COMVisual();
49 
52  public: virtual void Load(sdf::ElementPtr _elem);
53  using Visual::Load;
54 
57  public: virtual void Load(ConstLinkPtr &_msg);
58 
62  private: void Load(const math::Pose &_pose,
63  const math::Vector3 &_scale = math::Vector3(0.02, 0.02, 0.02));
64  };
66  }
67 }
68 #endif