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Road.hh
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1 /*
2  * Copyright (C) 2012-2014 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 _ROAD_HH_
19 #define _ROAD_HH_
20 
21 #include <vector>
22 
24 #include "gazebo/physics/Base.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
36  class GAZEBO_VISIBLE Road : public Base
37  {
40  public: explicit Road(BasePtr _parent);
41 
43  public: virtual ~Road();
44 
47  public: void Load(sdf::ElementPtr _sdf);
48 
50  public: virtual void Init();
51 
53  private: double width;
54 
56  private: std::vector<math::Vector3> points;
57 
59  private: transport::NodePtr node;
60 
62  private: transport::PublisherPtr roadPub;
63  };
65  }
66 }
67 #endif