All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
DARTCollision.hh
Go to the documentation of this file.
1 /*
2  * Copyright 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 _GAZEBO_DARTCOLLISION_HH_
19 #define _GAZEBO_DARTCOLLISION_HH_
20 
22 
25 
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35  {
38  public: explicit DARTCollision(LinkPtr _parent);
39 
41  public: virtual ~DARTCollision();
42 
43  // Documentation inherited.
44  public: virtual void Load(sdf::ElementPtr _sdf);
45 
46  // Documentation inherited.
47  public: virtual void Init();
48 
49  // Documentation inherited.
50  public: virtual void Fini();
51 
52  // Documentation inherited.
53  public: virtual void OnPoseChange();
54 
55  // Documentation inherited.
56  public: virtual void SetCategoryBits(unsigned int _bits);
57 
58  // Documentation inherited.
59  public: virtual void SetCollideBits(unsigned int _bits);
60 
63  public: virtual unsigned int GetCategoryBits() const;
64 
67  public: virtual unsigned int GetCollideBits() const;
68 
69  // Documentation inherited.
70  public: virtual math::Box GetBoundingBox() const;
71 
74  public: dart::dynamics::BodyNode *GetDARTBodyNode() const;
75 
79  public: void SetDARTCollisionShape(dart::dynamics::Shape *_shape,
80  bool _placeable = true);
81 
83  public: dart::dynamics::Shape* GetDARTCollisionShape() const;
84 
86  private: dart::dynamics::BodyNode *dtBodyNode;
87 
89  private: dart::dynamics::Shape *dtCollisionShape;
90 
92  private: unsigned int categoryBits;
93 
95  private: unsigned int collideBits;
96  };
97  }
98 }
99 #endif