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DARTMultiRayShape.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_DARTMULTIRAYSHAPE_HH_
19 #define _GAZEBO_DARTMULTIRAYSHAPE_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
35  {
38  public: explicit DARTMultiRayShape(CollisionPtr _parent);
39 
41  public: virtual ~DARTMultiRayShape();
42 
43  // Documentation inherited.
44  public: virtual void UpdateRays();
45 
49  protected: void AddRay(const math::Vector3 &_start,
50  const math::Vector3 &_end);
51 
53  private: DARTPhysicsPtr physicsEngine;
54  };
55  }
56 }
57 #endif