DARTPlaneShape.hh
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1 /*
2  * Copyright (C) 2014-2015 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.
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17 #ifndef _GAZEBO_DARTPLANESHAPE_HH_
18 #define _GAZEBO_DARTPLANESHAPE_HH_
19 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
30  {
33  public: explicit DARTPlaneShape(CollisionPtr _parent)
34  : PlaneShape(_parent) {}
35 
37  public: virtual ~DARTPlaneShape() {}
38 
39  // Documentation inherited
40  public: virtual void CreatePlane()
41  {
43 
44  DARTCollisionPtr dartCollisionParent =
45  boost::dynamic_pointer_cast<DARTCollision>(this->collisionParent);
46 
47  // math::Vector3 n = this->GetNormal();
48 
49  dart::dynamics::BodyNode *dtBodyNode =
50  dartCollisionParent->GetDARTBodyNode();
51  dart::dynamics::BoxShape *dtBoxShape =
52  new dart::dynamics::BoxShape(Eigen::Vector3d(2100, 2100, 0.01));
53  dtBodyNode->addCollisionShape(dtBoxShape);
54  dtBoxShape->setOffset(Eigen::Vector3d(0.0, 0.0, -0.005));
55  dartCollisionParent->SetDARTCollisionShape(dtBoxShape, false);
56  }
57 
58  // Documentation inherited
59  public: virtual void SetAltitude(const math::Vector3 &_pos)
60  {
62  }
63  };
64  }
65 }
66 #endif
DARTPlaneShape(CollisionPtr _parent)
Constructor.
Definition: DARTPlaneShape.hh:33
virtual void SetAltitude(const math::Vector3 &_pos)
Set the altitude of the plane.
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:94
virtual void CreatePlane()
Create the plane.
Definition: DARTPlaneShape.hh:40
Base class for all DART collisions.
Definition: DARTCollision.hh:34
virtual void SetAltitude(const math::Vector3 &_pos)
Set the altitude of the plane.
Definition: DARTPlaneShape.hh:59
dart::dynamics::BodyNode * GetDARTBodyNode() const
Get DART body node.
virtual void CreatePlane()
Create the plane.
An DART Plane shape.
Definition: DARTPlaneShape.hh:29
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:45
Collision for an infinite plane.
Definition: PlaneShape.hh:41
virtual ~DARTPlaneShape()
Destructor.
Definition: DARTPlaneShape.hh:37
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48