DARTModelPrivate.hh
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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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef _GAZEBO_DARTMODEL_PRIVATE_HH_
19 #define _GAZEBO_DARTMODEL_PRIVATE_HH_
20 
22 
23 namespace gazebo
24 {
25  namespace physics
26  {
30  {
32  public: DARTModelPrivate()
33  : dtSkeleton(NULL),
34  dtConfig(),
35  dtVelocity()
36  {
37  }
38 
41  {
42  // We don't need to delete dtSkeleton because world will delete
43  // dtSkeleton if it is registered to the world.
44  }
45 
47  public: dart::dynamics::Skeleton *dtSkeleton;
48 
50  public: Eigen::VectorXd dtConfig;
51 
53  public: Eigen::VectorXd dtVelocity;
54  };
55  }
56 }
57 #endif
dart::dynamics::Skeleton * dtSkeleton
Pointer to DART Skeleton.
Definition: DARTModelPrivate.hh:47
Definition: DARTModelPrivate.hh:29
Eigen::VectorXd dtVelocity
Generalized velocities.
Definition: DARTModelPrivate.hh:53
#define NULL
Definition: CommonTypes.hh:31
~DARTModelPrivate()
Default destructor.
Definition: DARTModelPrivate.hh:40
Eigen::VectorXd dtConfig
Generalized positions.
Definition: DARTModelPrivate.hh:50
DARTModelPrivate()
Constructor.
Definition: DARTModelPrivate.hh:32