83 lines
2.3 KiB
C++
83 lines
2.3 KiB
C++
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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 _CONTACTVISUAL_PRIVATE_HH_
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#define _CONTACTVISUAL_PRIVATE_HH_
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#include <string>
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#include <vector>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/rendering/VisualPrivate.hh"
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namespace Ogre
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{
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class Entity;
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class SceneNode;
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}
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namespace gazebo
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{
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namespace rendering
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{
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class DynamicLines;
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/// \brief Private data for the Arrow Visual class
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class ContactVisualPrivate : public VisualPrivate
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{
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/// \brief Node for communication.
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public: transport::NodePtr node;
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/// \brief Subscription to the contact data.
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public: transport::SubscriberPtr contactsSub;
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/// \brief The current contact message.
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public: boost::shared_ptr<msgs::Contacts const> contactsMsg;
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/// \brief All the event connections.
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public: std::vector<event::ConnectionPtr> connections;
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/// \brief A contact point visualization.
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public: class ContactPoint
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{
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/// \brief The scene node for the contact visualization.
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public: Ogre::SceneNode *sceneNode;
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/// \brief Normal and depth for the contact point.
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public: DynamicLines *normal, *depth;
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};
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/// \brief All the contact points.
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public: std::vector<ContactVisualPrivate::ContactPoint *> points;
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/// \brief Mutex to protect the contact message.
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public: boost::mutex mutex;
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/// \brief True if we have received a message.
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public: bool receivedMsg;
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/// \brief True if this visualization is enabled.
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public: bool enabled;
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/// \brief Name of the topic contact information is published on
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public: std::string topicName;
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};
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}
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}
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#endif
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