COMVisual.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _COMVISUAL_HH_
19 #define _COMVISUAL_HH_
20 
21 #include <string>
22 
23 #include "gazebo/math/Pose.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace rendering
30  {
33 
37  {
41  public: COMVisual(const std::string &_name, VisualPtr _vis);
42 
44  public: virtual ~COMVisual();
45 
48  public: virtual void Load(sdf::ElementPtr _elem);
49  using Visual::Load;
50 
53  public: virtual void Load(ConstLinkPtr &_msg);
54 
57  public: math::Pose GetInertiaPose() const;
58 
60  private: void Load();
61  };
63  }
64 }
65 #endif
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
Basic Center of Mass visualization.
Definition: COMVisual.hh:36
virtual void Load()
Load the visual with default parameters.
A renderable object.
Definition: Visual.hh:58
#define GZ_RENDERING_VISIBLE
Definition: system.hh:241
boost::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:107