WrenchVisual.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012 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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef GAZEBO_RENDERING_WRENCHVISUAL_HH_
19 #define GAZEBO_RENDERING_WRENCHVISUAL_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 
38  class GZ_RENDERING_VISIBLE WrenchVisual : public Visual
39  {
44  public: WrenchVisual(const std::string &_name, VisualPtr _vis,
45  const std::string &_topicName);
46 
48  public: virtual ~WrenchVisual();
49 
52  public: void Load(ConstJointPtr &_msg);
53  using Visual::Load;
54 
55  // Documentation inherited
56  public: void Fini();
57 
60  public: void SetEnabled(bool _enabled);
61 
63  private: void OnMsg(ConstWrenchStampedPtr &_msg);
64 
66  private: void Update();
67  };
69  }
70 }
71 #endif
A renderable object.
Definition: Visual.hh:63
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:113
virtual void Load()
Load the visual with default parameters.
Visualization for wrench data.
Definition: WrenchVisual.hh:38