DARTSurfaceParams.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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17 
18 #ifndef _GAZEBO_DARTSURFACEPARAMS_HH_
19 #define _GAZEBO_DARTSURFACEPARAMS_HH_
20 
21 #include <sdf/sdf.hh>
22 
23 #include "gazebo/math/Vector3.hh"
24 #include "gazebo/msgs/msgs.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
36  class DARTSurfaceParamsPrivate;
37 
40  {
42  public: DARTSurfaceParams();
43 
45  public: virtual ~DARTSurfaceParams();
46 
49  public: virtual void Load(sdf::ElementPtr _sdf);
50 
51  // Documentation inherited.
52  public: virtual void FillMsg(msgs::Surface &_msg);
53 
54  // Documentation inherited.
55  public: virtual void ProcessMsg(const msgs::Surface &_msg);
56 
57  // Documentation inherited.
58  public: virtual FrictionPyramidPtr GetFrictionPyramid() const
59  GAZEBO_DEPRECATED(7.0);
60 
61  // Documentation inherited.
62  public: virtual FrictionPyramidPtr FrictionPyramid() const;
63 
66  private: DARTSurfaceParamsPrivate *dataPtr;
67  };
69  }
70 }
71 #endif
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
#define GAZEBO_DEPRECATED(version)
Definition: CommonTypes.hh:48
DART surface parameters.
Definition: DARTSurfaceParams.hh:39
Definition: DARTSurfaceParamsPrivate.hh:31
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:177
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:156