InertiaVisual.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2015 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.
 *
*/

#ifndef _GAZEBO_INERTIAVISUAL_HH_
#define _GAZEBO_INERTIAVISUAL_HH_

#include <string>

#include "gazebo/rendering/Visual.hh"

namespace gazebo
{
  namespace rendering
  {

    class GZ_RENDERING_VISIBLE InertiaVisual : public Visual
    {
      public: InertiaVisual(const std::string &_name, VisualPtr _vis);

      public: ~InertiaVisual();

      public: virtual void Load(sdf::ElementPtr _elem);
      using Visual::Load;

      public: virtual void Load(ConstLinkPtr &_msg);

      private: void Load(const ignition::math::Pose3d &_pose,
                   const ignition::math::Vector3d &_scale =
                   ignition::math::Vector3d(0.02, 0.02, 0.02));
    };
  }
}
#endif