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CollisionState.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 /* Desc: A collision state
18  * Author: Nate Koenig
19  */
20 
21 #ifndef _COLLISIONSTATE_HH_
22 #define _COLLISIONSTATE_HH_
23 
24 #include "gazebo/physics/State.hh"
25 #include "gazebo/math/Pose.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
43  {
45  public: CollisionState();
46 
52  public: explicit CollisionState(const CollisionPtr _collision);
53 
58  public: explicit CollisionState(const sdf::ElementPtr _sdf);
59 
61  public: virtual ~CollisionState();
62 
67  public: virtual void Load(const sdf::ElementPtr _elem);
68 
71  public: const math::Pose &GetPose() const;
72 
75  public: bool IsZero() const;
76 
79  public: void FillSDF(sdf::ElementPtr _sdf);
80 
84  public: CollisionState &operator=(const CollisionState &_state);
85 
89  public: CollisionState operator-(const CollisionState &_state) const;
90 
94  public: CollisionState operator+(const CollisionState &_state) const;
95 
100  public: inline friend std::ostream &operator<<(std::ostream &_out,
101  const gazebo::physics::CollisionState &_state)
102  {
103  _out << "<collision name='" << _state.name << "'>"
104  << "<pose>" << _state.pose << "</pose>";
105  _out << "</collision>";
106 
107  return _out;
108  }
109 
111  private: math::Pose pose;
112  };
114  }
115 }
116 #endif