58 lines
1.5 KiB
C++
58 lines
1.5 KiB
C++
/*
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* Copyright (C) 2015 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_PRIVATE_HH_
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#define _GAZEBO_DARTMODEL_PRIVATE_HH_
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#include "gazebo/physics/dart/dart_inc.h"
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namespace gazebo
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{
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namespace physics
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{
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/// \internal
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/// \brief Private data class for DARTModel
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class DARTModelPrivate
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{
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/// \brief Constructor
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public: DARTModelPrivate()
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: dtSkeleton(NULL),
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dtConfig(),
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dtVelocity()
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{
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}
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/// \brief Default destructor
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public: ~DARTModelPrivate()
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{
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// We don't need to delete dtSkeleton because world will delete
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// dtSkeleton if it is registered to the world.
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}
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/// \brief Pointer to DART Skeleton
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public: dart::dynamics::Skeleton *dtSkeleton;
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/// \brief Generalized positions
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public: Eigen::VectorXd dtConfig;
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/// \brief Generalized velocities
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public: Eigen::VectorXd dtVelocity;
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};
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}
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}
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#endif
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