DARTCollision.hh
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2  * Copyright (C) 2014-2015 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_DARTCOLLISION_HH_
19 #define _GAZEBO_DARTCOLLISION_HH_
20 
22 
25 
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35  {
38  public: explicit DARTCollision(LinkPtr _parent);
39 
41  public: virtual ~DARTCollision();
42 
43  // Documentation inherited.
44  public: virtual void Load(sdf::ElementPtr _sdf);
45 
46  // Documentation inherited.
47  public: virtual void Init();
48 
49  // Documentation inherited.
50  public: virtual void Fini();
51 
52  // Documentation inherited.
53  public: virtual void OnPoseChange();
54 
55  // Documentation inherited.
56  public: virtual void SetCategoryBits(unsigned int _bits);
57 
58  // Documentation inherited.
59  public: virtual void SetCollideBits(unsigned int _bits);
60 
63  public: virtual unsigned int GetCategoryBits() const;
64 
67  public: virtual unsigned int GetCollideBits() const;
68 
69  // Documentation inherited.
70  public: virtual math::Box GetBoundingBox() const;
71 
74  public: dart::dynamics::BodyNode *GetDARTBodyNode() const;
75 
79  public: void SetDARTCollisionShape(dart::dynamics::Shape *_shape,
80  bool _placeable = true);
81 
83  public: dart::dynamics::Shape* GetDARTCollisionShape() const;
84 
86  private: dart::dynamics::BodyNode *dtBodyNode;
87 
89  private: dart::dynamics::Shape *dtCollisionShape;
90 
92  private: unsigned int categoryBits;
93 
95  private: unsigned int collideBits;
96  };
97  }
98 }
99 #endif
Base class for all collision entities.
Definition: Collision.hh:44
Mathematical representation of a box and related functions.
Definition: Box.hh:33
default namespace for gazebo
Base class for all DART collisions.
Definition: DARTCollision.hh:34
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:90