72 lines
2.2 KiB
C++
72 lines
2.2 KiB
C++
|
/*
|
||
|
|
* 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/math/Pose.hh"
|
||
|
|
#include "gazebo/rendering/Visual.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace rendering
|
||
|
|
{
|
||
|
|
/// \addtogroup gazebo_rendering Rendering
|
||
|
|
/// \{
|
||
|
|
|
||
|
|
/// \class InertiaVisual InertiaVisual.hh rendering/rendering.hh
|
||
|
|
/// \brief Basic Inertia visualization
|
||
|
|
class GZ_RENDERING_VISIBLE InertiaVisual : public Visual
|
||
|
|
{
|
||
|
|
/// \brief Constructor
|
||
|
|
/// \param[in] _name Name of the Visual
|
||
|
|
/// \param[in] _vis Parent Visual
|
||
|
|
public: InertiaVisual(const std::string &_name, VisualPtr _vis);
|
||
|
|
|
||
|
|
/// \brief Destructor
|
||
|
|
public: ~InertiaVisual();
|
||
|
|
|
||
|
|
// Inherited from parent class
|
||
|
|
public: virtual void Fini();
|
||
|
|
|
||
|
|
/// \brief Load the Visual from an SDF pointer
|
||
|
|
/// \param[in] _elem SDF Element pointer
|
||
|
|
public: virtual void Load(sdf::ElementPtr _elem);
|
||
|
|
using Visual::Load;
|
||
|
|
|
||
|
|
/// \brief Load from a message
|
||
|
|
/// \param[in] _msg Pointer to the message
|
||
|
|
public: virtual void Load(ConstLinkPtr &_msg);
|
||
|
|
|
||
|
|
/// \brief Load based on a math::Pose
|
||
|
|
/// \param[in] _pose Pose of the Inertia visual
|
||
|
|
/// \param[in] _scale Scale factor for the box visual.
|
||
|
|
private: void Load(const math::Pose &_pose,
|
||
|
|
const math::Vector3 &_scale = math::Vector3(0.02, 0.02, 0.02));
|
||
|
|
|
||
|
|
/// \brief Destroy all the movable objects attached to a scene node.
|
||
|
|
/// \param[in] _sceneNode Pointer to the scene node to process.
|
||
|
|
private: void DestroyAllAttachedMovableObjects(
|
||
|
|
Ogre::SceneNode *_sceneNode);
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|