DARTModel.hh

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/*
 * Copyright (C) 2014-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _GAZEBO_DARTMODEL_HH_
#define _GAZEBO_DARTMODEL_HH_

#include "gazebo/physics/dart/dart_inc.h"
#include "gazebo/physics/dart/DARTTypes.hh"
#include "gazebo/physics/Model.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GAZEBO_VISIBLE DARTModel : public Model
    {
      public: explicit DARTModel(BasePtr _parent);

      public: virtual ~DARTModel();

      // Documentation inherited.
      public: virtual void Load(sdf::ElementPtr _sdf);

      // Documentation inherited.
      public: virtual void Init();

      // Documentation inherited.
      public: virtual void Update();

      // Documentation inherited.
      public: virtual void Fini();

      public: void BackupState();

      public: void RestoreState();

      public: dart::dynamics::Skeleton *GetDARTSkeleton();

      public: DARTPhysicsPtr GetDARTPhysics(void) const;

      public: dart::simulation::World *GetDARTWorld(void) const;

      protected: dart::dynamics::Skeleton *dtSkeleton;

      protected: Eigen::VectorXd dtConfig;

      protected: Eigen::VectorXd dtVelocity;
    };
  }
}
#endif