ContactVisual.hh
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1 /*
2  * Copyright (C) 2012-2016 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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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _CONTACTVISUAL_HH_
19 #define _CONTACTVISUAL_HH_
20 
21 #include <string>
22 
23 #include "gazebo/msgs/MessageTypes.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace rendering
30  {
33 
39  class GZ_RENDERING_VISIBLE ContactVisual : public Visual
40  {
46  public: ContactVisual(const std::string &_name, VisualPtr _vis,
47  const std::string &_topicName);
48 
50  public: virtual ~ContactVisual();
51 
54  public: void SetEnabled(bool _enabled);
55 
57  private: void Update();
58 
61  private: void OnContact(ConstContactsPtr &_msg);
62 
64  private: void CreateNewPoint();
65  };
67  }
68 }
69 #endif
Contact visualization.
Definition: ContactVisual.hh:39
A renderable object.
Definition: Visual.hh:59
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:112