DARTMultiRayShape.hh
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1 /*
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_DARTMULTIRAYSHAPE_HH_
19 #define _GAZEBO_DARTMULTIRAYSHAPE_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
35  {
38  public: explicit DARTMultiRayShape(CollisionPtr _parent);
39 
41  public: virtual ~DARTMultiRayShape();
42 
43  // Documentation inherited.
44  public: virtual void UpdateRays();
45 
49  protected: void AddRay(const math::Vector3 &_start,
50  const math::Vector3 &_end);
51 
53  private: DARTPhysicsPtr physicsEngine;
54  };
55  }
56 }
57 #endif
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner...
Definition: MultiRayShape.hh:41
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:39
DART specific version of MultiRayShape.
Definition: DARTMultiRayShape.hh:34
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:94
DART wrapper forward declarations and typedefs.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48