57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2012 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_PRIVATE_HH_
|
||
|
|
#define _COMVISUAL_PRIVATE_HH_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
|
||
|
|
#include "gazebo/rendering/VisualPrivate.hh"
|
||
|
|
|
||
|
|
namespace ogre
|
||
|
|
{
|
||
|
|
class SceneNode;
|
||
|
|
}
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace rendering
|
||
|
|
{
|
||
|
|
class DynamicLines;
|
||
|
|
|
||
|
|
/// \brief Private data for the COM Visual class
|
||
|
|
class COMVisualPrivate : public VisualPrivate
|
||
|
|
{
|
||
|
|
/// \brief Lines that make the cross marking the center of mass.
|
||
|
|
public: DynamicLines *crossLines;
|
||
|
|
|
||
|
|
/// \brief Sphere with density of lead and equivalent mass.
|
||
|
|
public: Ogre::SceneNode *sphereNode;
|
||
|
|
|
||
|
|
/// \brief Inertia pose in link frame.
|
||
|
|
public: math::Pose inertiaPose;
|
||
|
|
|
||
|
|
/// \brief Parent link name.
|
||
|
|
public: std::string linkName;
|
||
|
|
|
||
|
|
/// \brief Link mass.
|
||
|
|
public: double mass;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|