JointVisual.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _JOINTVISUAL_HH_
19 #define _JOINTVISUAL_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 
36  class GZ_RENDERING_VISIBLE JointVisual : public Visual
37  {
41  public: JointVisual(const std::string &_name, VisualPtr _vis);
42 
44  public: virtual ~JointVisual();
45 
48  public: void Load(ConstJointPtr &_msg);
49  using Visual::Load;
50 
57  public: void Load(ConstJointPtr &_msg, const math::Pose &_worldPose);
58 
65  public: ArrowVisualPtr CreateAxis(const math::Vector3 &_axis,
66  bool _useParentFrame, msgs::Joint::Type _type);
67 
68  // Documentation Inherited.
69  public: virtual void SetVisible(bool _visible, bool _cascade = true);
70 
73  public: void UpdateFromMsg(ConstJointPtr &_msg);
74 
81  public: void UpdateAxis(ArrowVisualPtr _arrowVisual,
82  const math::Vector3 &_axis, bool _useParentFrame,
83  msgs::Joint::Type _type);
84 
87  public: JointVisualPtr GetParentAxisVisual() const;
88 
92  public: ArrowVisualPtr GetArrowVisual() const;
93  };
95  }
96 }
97 #endif
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
std::shared_ptr< ArrowVisual > ArrowVisualPtr
Definition: RenderTypes.hh:148
A renderable object.
Definition: Visual.hh:59
Visualization for joints.
Definition: JointVisual.hh:36
std::shared_ptr< JointVisual > JointVisualPtr
Definition: RenderTypes.hh:140
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:112
virtual void Load()
Load the visual with default parameters.