DARTRayShape.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.
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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17 
18 #ifndef _GAZEBO_DARTRAYSHAPE_HH_
19 #define _GAZEBO_DARTRAYSHAPE_HH_
20 
21 #include <string>
22 
24 #include "gazebo/physics/Shape.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
37  class DARTRayShapePrivate;
38 
41  {
44  public: explicit DARTRayShape(PhysicsEnginePtr _physicsEngine);
45 
48  public: explicit DARTRayShape(CollisionPtr _collision);
49 
51  public: virtual ~DARTRayShape();
52 
54  public: virtual void Update();
55 
59  public: virtual void GetIntersection(double &_dist, std::string &_entity);
60 
65  public: virtual void SetPoints(const math::Vector3 &_posStart,
66  const math::Vector3 &_posEnd);
67 
70  private: DARTRayShapePrivate *dataPtr;
71  };
72  }
73 }
74 #endif
Definition: DARTRayShapePrivate.hh:30
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:116
DART wrapper forward declarations and typedefs.
Ray collision.
Definition: DARTRayShape.hh:40
Base class for Ray collision geometry.
Definition: RayShape.hh:40