74 lines
2.2 KiB
C++
74 lines
2.2 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_HH_
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#define _COMVISUAL_HH_
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#include <string>
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#include "gazebo/math/Pose.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 COMVisual COMVisual.hh rendering/rendering.hh
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/// \brief Basic Center of Mass visualization
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class GZ_RENDERING_VISIBLE COMVisual : public Visual
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{
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/// \brief Constructor
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/// \param[in] _name Name of the Visual
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/// \param[in] _vis Parent Visual
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public: COMVisual(const std::string &_name, VisualPtr _vis);
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/// \brief Destructor
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public: ~COMVisual();
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// Inherited from parent class
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public: virtual void Fini();
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/// \brief Load the Visual from an SDF pointer
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/// \param[in] _elem SDF Element pointer
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public: virtual void Load(sdf::ElementPtr _elem);
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using Visual::Load;
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/// \brief Load from a message
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/// \param[in] _msg Pointer to the message
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public: virtual void Load(ConstLinkPtr &_msg);
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/// \brief Get inertia pose.
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/// \return Inertia pose in link frame.
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public: math::Pose GetInertiaPose() const;
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/// \brief Load using previously set member variables.
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private: void Load();
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/// \brief Destroy all the movable objects attached to a scene node.
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/// \param[in] _sceneNode Pointer to the scene node to process.
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private: void DestroyAllAttachedMovableObjects(
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Ogre::SceneNode *_sceneNode);
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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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