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gazebo
physics
simbody
SimbodyCollision.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
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#define GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
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#include <string>
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#include "
gazebo/physics/PhysicsTypes.hh
"
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#include "
gazebo/physics/Collision.hh
"
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#include "
gazebo/util/system.hh
"
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namespace
SimTK
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{
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class
ContactGeometry;
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}
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namespace
gazebo
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{
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namespace
physics
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{
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class
GZ_PHYSICS_VISIBLE
SimbodyCollision
:
public
Collision
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{
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public
:
explicit
SimbodyCollision
(
LinkPtr
_parent);
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public
:
virtual
~
SimbodyCollision
();
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// Documentation inherited
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public
:
virtual
void
Load(sdf::ElementPtr _ptr);
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// Documentation inherited
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public
:
virtual
void
OnPoseChange();
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// Documentation inherited
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public
:
virtual
void
SetCategoryBits(
unsigned
int
_bits);
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// Documentation inherited
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public
:
virtual
void
SetCollideBits(
unsigned
int
_bits);
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// Documentation inherited
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public
:
virtual
ignition::math::Box BoundingBox()
const
;
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public
:
void
SetCollisionShape(SimTK::ContactGeometry *_shape);
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public
: SimTK::ContactGeometry *GetCollisionShape()
const
;
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private
: SimTK::ContactGeometry *collisionShape;
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};
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}
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}
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#endif
gazebo::physics::LinkPtr
boost::shared_ptr< Link > LinkPtr
Definition:
PhysicsTypes.hh:109
gazebo::physics::Collision
Base class for all collision entities.
Definition:
Collision.hh:38
system.hh
PhysicsTypes.hh
default namespace for gazebo
gazebo::physics::SimbodyCollision
Simbody collisions.
Definition:
SimbodyCollision.hh:41
Collision.hh