70 lines
2.1 KiB
C++
70 lines
2.1 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 _CONTACTVISUAL_HH_
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#define _CONTACTVISUAL_HH_
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#include <string>
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/rendering/Visual.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 rendering
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{
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/// \addtogroup gazebo_rendering Rendering
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/// \{
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/// \class ContactVisual ContactVisual.hh rendering/rendering.hh
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/// \brief Contact visualization
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///
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/// This class visualizes contact points by drawing arrows in the 3D
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/// environment.
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class GZ_RENDERING_VISIBLE ContactVisual : public Visual
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{
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/// \brief Constructor
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/// \param[in] _name Name of the ContactVisual
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/// \param[in] _vis Pointer the parent Visual
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/// \param[in] _topicName Name of the topic which publishes the contact
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/// information.
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public: ContactVisual(const std::string &_name, VisualPtr _vis,
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const std::string &_topicName);
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/// \brief Destructor
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public: virtual ~ContactVisual();
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/// \brief Set to true to enable contact visualization.
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/// \param[in] _enabled True to show contacts, false to hide.
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public: void SetEnabled(bool _enabled);
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/// \brief Update the Visual
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private: void Update();
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/// \brief Callback when a Contact message is received
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/// \param[in] _msg The Contact message
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private: void OnContact(ConstContactsPtr &_msg);
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/// \brief Create a new contact visualization point.
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private: void CreateNewPoint();
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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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