COMVisual.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012-2016 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 _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: ~COMVisual();
45 
46  // Inherited from parent class
47  public: virtual void Fini();
48 
51  public: virtual void Load(sdf::ElementPtr _elem);
52  using Visual::Load;
53 
56  public: virtual void Load(ConstLinkPtr &_msg);
57 
60  public: math::Pose GetInertiaPose() const;
61 
63  private: void Load();
64 
67  private: void DestroyAllAttachedMovableObjects(
68  Ogre::SceneNode *_sceneNode);
69  };
71  }
72 }
73 #endif
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
Basic Center of Mass visualization.
Definition: COMVisual.hh:36
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:112
virtual void Load()
Load the visual with default parameters.
A renderable object.
Definition: Visual.hh:59
#define GZ_RENDERING_VISIBLE
Definition: system.hh:209