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