COMVisual.hh
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17 
18 #ifndef _COMVISUAL_HH_
19 #define _COMVISUAL_HH_
20 
21 #include <string>
22 
23 #include <sdf/sdf.hh>
24 
25 #include "gazebo/math/Pose.hh"
26 #include "gazebo/math/Vector3.hh"
27 #include "gazebo/msgs/MessageTypes.hh"
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace rendering
34  {
37 
41  {
45  public: COMVisual(const std::string &_name, VisualPtr _vis);
46 
48  public: virtual ~COMVisual();
49 
52  public: virtual void Load(sdf::ElementPtr _elem);
53  using Visual::Load;
54 
57  public: virtual void Load(ConstLinkPtr &_msg);
58 
62  private: void Load(const math::Pose &_pose,
63  const math::Vector3 &_scale = math::Vector3(0.02, 0.02, 0.02));
64  };
66  }
67 }
68 #endif
Encapsulates a position and rotation in three space.
Definition: Pose.hh:40
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
Basic Center of Mass visualization.
Definition: COMVisual.hh:40
virtual void Load()
Load the visual with default parameters.
A renderable object.
Definition: Visual.hh:62
boost::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:102
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48