84 lines
2.1 KiB
C++
84 lines
2.1 KiB
C++
/*
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* Copyright (C) 2014 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 _GAZEBO_DARTMODEL_HH_
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#define _GAZEBO_DARTMODEL_HH_
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#include "gazebo/physics/dart/dart_inc.h"
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#include "gazebo/physics/dart/DARTTypes.hh"
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#include "gazebo/physics/Model.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// Forward declare private data class
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class DARTModelPrivate;
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/// \ingroup gazebo_physics
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/// \addtogroup gazebo_physics_dart DART Physics
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/// \brief dart physics engine wrapper
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/// \{
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/// \class DARTModel
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/// \brief DART model class
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class GZ_PHYSICS_VISIBLE DARTModel : public Model
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent object.
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public: explicit DARTModel(BasePtr _parent);
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/// \brief Destructor.
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public: virtual ~DARTModel();
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// Documentation inherited.
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public: virtual void Load(sdf::ElementPtr _sdf);
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// Documentation inherited.
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public: virtual void Init();
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// Documentation inherited.
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public: virtual void Update();
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// Documentation inherited.
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public: virtual void Fini();
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/// \brief
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public: void BackupState();
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/// \brief
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public: void RestoreState();
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/// \brief
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public: dart::dynamics::Skeleton *GetDARTSkeleton();
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/// \brief
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public: DARTPhysicsPtr GetDARTPhysics(void) const;
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/// \brief
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public: dart::simulation::World *GetDARTWorld(void) const;
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/// \internal
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/// \brief Pointer to private data
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private: DARTModelPrivate *dataPtr;
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};
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/// \}
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}
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}
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#endif
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