DARTMultiRayShape.hh
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1 /*
2  * Copyright (C) 2014-2016 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.
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8  * http://www.apache.org/licenses/LICENSE-2.0
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17 
18 #ifndef _GAZEBO_DARTMULTIRAYSHAPE_HH_
19 #define _GAZEBO_DARTMULTIRAYSHAPE_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
34  class DARTMultiRayShapePrivate;
35 
38  {
41  public: explicit DARTMultiRayShape(CollisionPtr _parent);
42 
44  public: virtual ~DARTMultiRayShape();
45 
46  // Documentation inherited.
47  public: virtual void UpdateRays();
48 
52  protected: void AddRay(const math::Vector3 &_start,
53  const math::Vector3 &_end);
54 
57  private: DARTMultiRayShapePrivate *dataPtr;
58  };
59  }
60 }
61 #endif
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner...
Definition: MultiRayShape.hh:41
DART specific version of MultiRayShape.
Definition: DARTMultiRayShape.hh:37
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104
Definition: DARTMultiRayShapePrivate.hh:30
DART wrapper forward declarations and typedefs.