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DARTPlaneShape.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 #ifndef _GAZEBO_DARTPLANESHAPE_HH_
18 #define _GAZEBO_DARTPLANESHAPE_HH_
19 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
30  {
33  public: explicit DARTPlaneShape(CollisionPtr _parent)
34  : PlaneShape(_parent) {}
35 
37  public: virtual ~DARTPlaneShape() {}
38 
39  // Documentation inherited
40  public: virtual void CreatePlane()
41  {
43 
44  DARTCollisionPtr dartCollisionParent =
45  boost::dynamic_pointer_cast<DARTCollision>(this->collisionParent);
46 
47  // math::Vector3 n = this->GetNormal();
48 
49  dart::dynamics::BodyNode *dtBodyNode =
50  dartCollisionParent->GetDARTBodyNode();
51  dart::dynamics::BoxShape *dtBoxShape =
52  new dart::dynamics::BoxShape(Eigen::Vector3d(2100, 2100, 0.01));
53  dtBodyNode->addCollisionShape(dtBoxShape);
54  dtBoxShape->setOffset(Eigen::Vector3d(0.0, 0.0, -0.005));
55  dartCollisionParent->SetDARTCollisionShape(dtBoxShape, false);
56  }
57 
58  // Documentation inherited
59  public: virtual void SetAltitude(const math::Vector3 &_pos)
60  {
62  }
63  };
64  }
65 }
66 #endif