CollisionState.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: A collision state
 * Author: Nate Koenig
 */

#ifndef GAZEBO_PHYSICS_COLLISIONSTATE_HH_
#define GAZEBO_PHYSICS_COLLISIONSTATE_HH_

#include <ignition/math/Pose3.hh>

#include "gazebo/physics/State.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE CollisionState : public State
    {
      public: CollisionState();

      public: explicit CollisionState(const CollisionPtr _collision);

      public: explicit CollisionState(const sdf::ElementPtr _sdf);

      public: virtual ~CollisionState();

      public: virtual void Load(const sdf::ElementPtr _elem);

      public: const math::Pose GetPose() const GAZEBO_DEPRECATED(8.0);

      public: const ignition::math::Pose3d &Pose() const;

      public: bool IsZero() const;

      public: void FillSDF(sdf::ElementPtr _sdf);

      public: CollisionState &operator=(const CollisionState &_state);

      public: CollisionState operator-(const CollisionState &_state) const;

      public: CollisionState operator+(const CollisionState &_state) const;

      public: inline friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::physics::CollisionState &_state)
      {
        _out << "<collision name='" << _state.name << "'>"
             << "<pose>" << _state.pose << "</pose>";
        _out << "</collision>";

        return _out;
      }

      private: ignition::math::Pose3d pose;
    };
  }
}
#endif