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gazebo
physics
dart
DARTRayShape.hh
Go to the documentation of this file.
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/*
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* Copyright 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 _GAZEBO_DARTRAYSHAPE_HH_
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#define _GAZEBO_DARTRAYSHAPE_HH_
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#include <string>
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#include "
gazebo/physics/RayShape.hh
"
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#include "
gazebo/physics/Shape.hh
"
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#include "
gazebo/physics/dart/DARTTypes.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
physics
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{
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class
GAZEBO_VISIBLE
DARTRayShape
:
public
RayShape
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{
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public
:
explicit
DARTRayShape
(
PhysicsEnginePtr
_physicsEngine);
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public
:
explicit
DARTRayShape
(
CollisionPtr
_collision);
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public
:
virtual
~
DARTRayShape
();
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public
:
virtual
void
Update();
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public
:
virtual
void
GetIntersection(
double
&_dist, std::string &_entity);
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public
:
virtual
void
SetPoints(
const
math::Vector3
&_posStart,
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const
math::Vector3
&_posEnd);
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private
:
DARTPhysicsPtr
physicsEngine;
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};
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}
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}
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#endif