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ODEMultiRayShape.hh
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1 /*
2  * Copyright (C) 2012-2014 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.
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13  * See the License for the specific language governing permissions and
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17 #ifndef _ODEMULTIRAYSHAPE_HH_
18 #define _ODEMULTIRAYSHAPE_HH_
19 
21 #include "gazebo/util/system.hh"
22 
23 namespace gazebo
24 {
25  namespace physics
26  {
29  {
32  public: explicit ODEMultiRayShape(CollisionPtr _parent);
33 
35  public: virtual ~ODEMultiRayShape();
36 
37  // Documentation inherited.
38  public: virtual void UpdateRays();
39 
44  private: static void UpdateCallback(void *_data, dGeomID _o1,
45  dGeomID _o2);
46 
50  protected: void AddRay(const math::Vector3 &_start,
51  const math::Vector3 &_end);
52 
54  private: dSpaceID superSpaceId;
55 
57  private: dSpaceID raySpaceId;
58  };
59  }
60 }
61 #endif
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner...
Definition: MultiRayShape.hh:41
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:94
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
ODE specific version of MultiRayShape.
Definition: ODEMultiRayShape.hh:28