PhysicsTypes.hh
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2  * Copyright (C) 2012-2015 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.
6  * You may obtain a copy of the License at
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _PHYSICSTYPES_HH_
18 #define _PHYSICSTYPES_HH_
19 
20 #include <vector>
21 #include <map>
22 #include <string>
23 #include <boost/shared_ptr.hpp>
24 #include "gazebo/util/system.hh"
25 
29 namespace gazebo
30 {
32  namespace physics
33  {
34  class Base;
35  class Entity;
36  class World;
37  class Model;
38  class Actor;
39  class Link;
40  class Collision;
41  class Gripper;
42  class Joint;
43  class JointController;
44  class Contact;
45  class PhysicsEngine;
46  class Mass;
47  class Road;
48  class Shape;
49  class RayShape;
50  class MultiRayShape;
51  class Inertial;
52  class SurfaceParams;
53  class BoxShape;
54  class CylinderShape;
55  class MeshShape;
56  class SphereShape;
57  class PlaneShape;
58  class HeightmapShape;
59  class PolylineShape;
60  class ModelState;
61  class LinkState;
62  class JointState;
63 
66  typedef boost::shared_ptr<Base> BasePtr;
67 
70  typedef boost::shared_ptr<Contact> ContactPtr;
71 
74  typedef boost::shared_ptr<Entity> EntityPtr;
75 
78  typedef boost::shared_ptr<World> WorldPtr;
79 
82  typedef boost::shared_ptr<Model> ModelPtr;
83 
86  typedef boost::shared_ptr<Actor> ActorPtr;
87 
90  typedef boost::shared_ptr<Link> LinkPtr;
91 
94  typedef boost::shared_ptr<Collision> CollisionPtr;
95 
98  typedef boost::shared_ptr<Joint> JointPtr;
99 
102  typedef boost::shared_ptr<JointController> JointControllerPtr;
103 
106  typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr;
107 
110  typedef boost::shared_ptr<Shape> ShapePtr;
111 
114  typedef boost::shared_ptr<RayShape> RayShapePtr;
115 
118  typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr;
119 
122  typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr;
123 
126  typedef boost::shared_ptr<Inertial> InertialPtr;
127 
130  typedef boost::shared_ptr<Road> RoadPtr;
131 
134  typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr;
135 
138  typedef boost::shared_ptr<BoxShape> BoxShapePtr;
139 
142  typedef boost::shared_ptr<CylinderShape> CylinderShapePtr;
143 
146  typedef boost::shared_ptr<PlaneShape> PlaneShapePtr;
147 
150  typedef boost::shared_ptr<MeshShape> MeshShapePtr;
151 
154  typedef boost::shared_ptr<PolylineShape> PolylineShapePtr;
155 
158  typedef boost::shared_ptr<SphereShape> SphereShapePtr;
159 
162  typedef boost::shared_ptr<Gripper> GripperPtr;
163 
166  typedef std::vector<BasePtr> Base_V;
167 
170  typedef std::vector<ModelPtr> Model_V;
171 
174  typedef std::vector<ActorPtr> Actor_V;
175 
178  typedef std::vector<JointPtr> Joint_V;
179 
182  typedef std::vector<JointControllerPtr> JointController_V;
183 
186  typedef std::vector<LinkPtr> Link_V;
187 
190  typedef std::vector<CollisionPtr> Collision_V;
191 
194  typedef std::map<std::string, ModelState> ModelState_M;
195 
198  typedef std::map<std::string, LinkState> LinkState_M;
199 
202  typedef std::map<std::string, JointState> JointState_M;
203 
204  #ifndef GZ_COLLIDE_BITS
205 
209  #define GZ_ALL_COLLIDE 0x0FFFFFFF
210 
213  #define GZ_NONE_COLLIDE 0x00000000
214 
217  #define GZ_FIXED_COLLIDE 0x00000001
218 
221  #define GZ_SENSOR_COLLIDE 0x00000002
222 
225  #define GZ_GHOST_COLLIDE 0x10000000
226 
227  #endif
228  }
229 }
230 #endif
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:178
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:66
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:82
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:110
std::map< std::string, JointState > JointState_M
Definition: PhysicsTypes.hh:202
boost::shared_ptr< Inertial > InertialPtr
Definition: PhysicsTypes.hh:126
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:186
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:94
boost::shared_ptr< JointController > JointControllerPtr
Definition: PhysicsTypes.hh:102
boost::shared_ptr< MultiRayShape > MultiRayShapePtr
Definition: PhysicsTypes.hh:122
std::vector< JointControllerPtr > JointController_V
Definition: PhysicsTypes.hh:182
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:106
std::map< std::string, ModelState > ModelState_M
Definition: PhysicsTypes.hh:194
std::vector< ActorPtr > Actor_V
Definition: PhysicsTypes.hh:174
boost::shared_ptr< Contact > ContactPtr
Definition: PhysicsTypes.hh:70
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:74
Used to render a strip of road.
boost::shared_ptr< SurfaceParams > SurfaceParamsPtr
Definition: PhysicsTypes.hh:134
boost::shared_ptr< SphereShape > SphereShapePtr
Definition: PhysicsTypes.hh:158
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:78
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:98
boost::shared_ptr< Actor > ActorPtr
Definition: PhysicsTypes.hh:86
std::map< std::string, LinkState > LinkState_M
Definition: PhysicsTypes.hh:198
boost::shared_ptr< HeightmapShape > HeightmapShapePtr
Definition: PhysicsTypes.hh:118
std::vector< CollisionPtr > Collision_V
Definition: PhysicsTypes.hh:190
std::vector< ModelPtr > Model_V
Definition: PhysicsTypes.hh:170
boost::shared_ptr< Gripper > GripperPtr
Definition: PhysicsTypes.hh:162
boost::shared_ptr< MeshShape > MeshShapePtr
Definition: PhysicsTypes.hh:150
boost::shared_ptr< PlaneShape > PlaneShapePtr
Definition: PhysicsTypes.hh:146
boost::shared_ptr< BoxShape > BoxShapePtr
Definition: PhysicsTypes.hh:138
boost::shared_ptr< PolylineShape > PolylineShapePtr
Definition: PhysicsTypes.hh:154
boost::shared_ptr< CylinderShape > CylinderShapePtr
Definition: PhysicsTypes.hh:142
std::vector< BasePtr > Base_V
Definition: PhysicsTypes.hh:166
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:90
boost::shared_ptr< RayShape > RayShapePtr
Definition: PhysicsTypes.hh:114
boost::shared_ptr< Road > RoadPtr
Definition: PhysicsTypes.hh:130