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gazebo
rendering
ContactVisual.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2012-2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _CONTACTVISUAL_HH_
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#define _CONTACTVISUAL_HH_
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#include <string>
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#include "gazebo/msgs/MessageTypes.hh"
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#include "
gazebo/rendering/Visual.hh
"
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#include "
gazebo/util/system.hh
"
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namespace
gazebo
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{
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namespace
rendering
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{
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class
GAZEBO_VISIBLE
ContactVisual
:
public
Visual
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{
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public
:
ContactVisual
(
const
std::string &_name,
VisualPtr
_vis,
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const
std::string &_topicName);
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public
:
virtual
~
ContactVisual
();
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public
:
void
SetEnabled(
bool
_enabled);
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private
:
void
Update();
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private
:
void
OnContact(ConstContactsPtr &_msg);
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private
:
void
CreateNewPoint();
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};
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}
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}
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#endif