DARTLinkPrivate.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2015-2016 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 _GAZEBO_DARTLINK_PRIVATE_HH_
19 #define _GAZEBO_DARTLINK_PRIVATE_HH_
20 
21 #include <vector>
22 
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33  {
35  public: DARTLinkPrivate()
36  : dartPhysics(NULL),
39  dartChildJoints {},
40  staticLink(false),
42  {
43  }
44 
46  public: ~DARTLinkPrivate()
47  {
48  // We don't need to delete dtBodyNode because skeletone will delete
49  // dtBodyNode if it is registered to the skeletone.
50 
51  delete dtWeldJointConst;
52  }
53 
56 
58  public: dart::dynamics::BodyNode *dtBodyNode;
59 
62 
64  public: std::vector<DARTJointPtr> dartChildJoints;
65 
67  public: bool staticLink;
68 
70  public: dart::constraint::WeldJointConstraint *dtWeldJointConst;
71  };
72  }
73 }
74 #endif
~DARTLinkPrivate()
Default destructor.
Definition: DARTLinkPrivate.hh:46
DARTLinkPrivate()
Constructor.
Definition: DARTLinkPrivate.hh:35
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:41
bool staticLink
If true, freeze link to world (inertial) frame.
Definition: DARTLinkPrivate.hh:67
Definition: DARTLinkPrivate.hh:32
DARTJointPtr dartParentJoint
Pointer to the parent joint.
Definition: DARTLinkPrivate.hh:61
DARTPhysicsPtr dartPhysics
Pointer to the DART physics engine.
Definition: DARTLinkPrivate.hh:55
DART wrapper forward declarations and typedefs.
#define NULL
Definition: CommonTypes.hh:31
dart::constraint::WeldJointConstraint * dtWeldJointConst
Weld joint constraint for SetLinkStatic()
Definition: DARTLinkPrivate.hh:70
dart::dynamics::BodyNode * dtBodyNode
Pointer to the DART BodyNode.
Definition: DARTLinkPrivate.hh:58
boost::shared_ptr< DARTJoint > DARTJointPtr
Definition: DARTTypes.hh:46
std::vector< DARTJointPtr > dartChildJoints
List of pointers to the child joints.
Definition: DARTLinkPrivate.hh:64