DARTModel.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.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_DARTMODEL_HH_
19 #define _GAZEBO_DARTMODEL_HH_
20 
23 #include "gazebo/physics/Model.hh"
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
31  class DARTModelPrivate;
32 
37 
41  {
44  public: explicit DARTModel(BasePtr _parent);
45 
47  public: virtual ~DARTModel();
48 
49  // Documentation inherited.
50  public: virtual void Load(sdf::ElementPtr _sdf);
51 
52  // Documentation inherited.
53  public: virtual void Init();
54 
55  // Documentation inherited.
56  public: virtual void Update();
57 
58  // Documentation inherited.
59  public: virtual void Fini();
60 
62  public: void BackupState();
63 
65  public: void RestoreState();
66 
68  public: dart::dynamics::Skeleton *GetDARTSkeleton();
69 
71  public: DARTPhysicsPtr GetDARTPhysics(void) const;
72 
74  public: dart::simulation::World *GetDARTWorld(void) const;
75 
78  private: DARTModelPrivate *dataPtr;
79  };
81  }
82 }
83 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:68
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:318
DART model class.
Definition: DARTModel.hh:40
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:40
Definition: DARTModelPrivate.hh:29
A model is a collection of links, joints, and plugins.
Definition: Model.hh:52
DART wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.