72 lines
2.0 KiB
C++
72 lines
2.0 KiB
C++
/*
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#ifndef _GAZEBO_DARTSURFACEPARAMS_HH_
|
|
#define _GAZEBO_DARTSURFACEPARAMS_HH_
|
|
|
|
#include <sdf/sdf.hh>
|
|
|
|
#include "gazebo/math/Vector3.hh"
|
|
#include "gazebo/msgs/msgs.hh"
|
|
#include "gazebo/physics/SurfaceParams.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
namespace physics
|
|
{
|
|
/// \addtogroup gazebo_physics_dart
|
|
/// \{
|
|
|
|
/// Forward declare private data class
|
|
class DARTSurfaceParamsPrivate;
|
|
|
|
/// \brief DART surface parameters.
|
|
class GZ_PHYSICS_VISIBLE DARTSurfaceParams : public SurfaceParams
|
|
{
|
|
/// \brief Constructor.
|
|
public: DARTSurfaceParams();
|
|
|
|
/// \brief Destructor.
|
|
public: virtual ~DARTSurfaceParams();
|
|
|
|
/// \brief Load the contact params.
|
|
/// \param[in] _sdf SDF values to load from.
|
|
public: virtual void Load(sdf::ElementPtr _sdf);
|
|
|
|
// Documentation inherited.
|
|
public: virtual void FillMsg(msgs::Surface &_msg);
|
|
|
|
// Documentation inherited.
|
|
public: virtual void ProcessMsg(const msgs::Surface &_msg);
|
|
|
|
// Documentation inherited.
|
|
public: virtual FrictionPyramidPtr GetFrictionPyramid() const
|
|
GAZEBO_DEPRECATED(7.0);
|
|
|
|
// Documentation inherited.
|
|
public: virtual FrictionPyramidPtr FrictionPyramid() const;
|
|
|
|
/// \internal
|
|
/// \brief Pointer to private data
|
|
private: DARTSurfaceParamsPrivate *dataPtr;
|
|
};
|
|
/// \}
|
|
}
|
|
}
|
|
#endif
|