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DARTModel.hh
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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_DARTMODEL_HH_
19 #define _GAZEBO_DARTMODEL_HH_
20 
23 #include "gazebo/physics/Model.hh"
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
34 
38  {
41  public: explicit DARTModel(BasePtr _parent);
42 
44  public: virtual ~DARTModel();
45 
46  // Documentation inherited.
47  public: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  public: virtual void Init();
51 
52  // Documentation inherited.
53  public: virtual void Update();
54 
55  // Documentation inherited.
56  public: virtual void Fini();
57 
59  public: void BackupState();
60 
62  public: void RestoreState();
63 
65  public: dart::dynamics::Skeleton *GetDARTSkeleton();
66 
68  public: DARTPhysicsPtr GetDARTPhysics(void) const;
69 
71  public: dart::simulation::World *GetDARTWorld(void) const;
72 
74  protected: dart::dynamics::Skeleton *dtSkeleton;
75 
77  protected: Eigen::VectorXd dtConfig;
78 
80  protected: Eigen::VectorXd dtVelocity;
81  };
83  }
84 }
85 #endif