ContactVisualPrivate.hh

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _CONTACTVISUAL_PRIVATE_HH_
#define _CONTACTVISUAL_PRIVATE_HH_

#include <string>
#include <vector>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/rendering/VisualPrivate.hh"


namespace Ogre
{
  class Entity;
  class SceneNode;
}

namespace gazebo
{
  namespace rendering
  {
    class DynamicLines;

    class ContactVisualPrivate : public VisualPrivate
    {
      public: transport::NodePtr node;

      public: transport::SubscriberPtr contactsSub;

      public: boost::shared_ptr<msgs::Contacts const> contactsMsg;

      public: std::vector<event::ConnectionPtr> connections;

      public: class ContactPoint
               {
                 public: Ogre::SceneNode *sceneNode;
                 public: DynamicLines *normal, *depth;
               };

      public: std::vector<ContactVisualPrivate::ContactPoint *> points;

      public: boost::mutex mutex;

      public: bool receivedMsg;

      public: bool enabled;

      public: std::string topicName;
    };
  }
}
#endif