COMVisual.hh

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/*
 * Copyright (C) 2012-2014 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 _COMVISUAL_HH_
#define _COMVISUAL_HH_

#include <string>

#include <sdf/sdf.hh>

#include "gazebo/math/Pose.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {

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

      public: virtual ~COMVisual();

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

      public: virtual void Load(ConstLinkPtr &_msg);

      private: void Load(const math::Pose &_pose,
               const math::Vector3 &_scale = math::Vector3(0.02, 0.02, 0.02));
    };
  }
}
#endif