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18 #ifndef _GAZEBO_DARTMODEL_HH_
19 #define _GAZEBO_DARTMODEL_HH_
33 class DARTModelPrivate;
52 public:
virtual void Load(sdf::ElementPtr _sdf);
55 public:
virtual void Init();
58 public:
virtual void Update();
61 public:
virtual void Fini();
64 public:
virtual JointPtr CreateJoint(
65 const std::string &_name,
const std::string &_type,
69 public:
virtual JointPtr CreateJoint(sdf::ElementPtr _sdf);
75 public:
virtual bool RemoveJoint(
const std::string &_name);
78 public:
void BackupState();
81 public:
void RestoreState();
85 public: dart::dynamics::SkeletonPtr DARTSkeleton();
97 private: DARTModelPrivate *dataPtr;
DART wrapper forward declarations and typedefs.
Forward declarations for the common classes.
Definition: Animation.hh:26
dart::dynamics::SkeletonPtr DARTSkeleton()
Get pointer to DART Skeleton.
DART model class.
Definition: DARTModel.hh:42
virtual void Init()
Initialize the model.
virtual JointPtr CreateJoint(const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child)
Create a joint for this model.
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:43
DARTPhysicsPtr GetDARTPhysics(void) const
Get pointer to DART Physics.
dart::simulation::WorldPtr DARTWorld(void) const
Get pointer to DART World.
A model is a collection of links, joints, and plugins.
Definition: Model.hh:59
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual bool RemoveJoint(const std::string &_name)
Remove a joint for this model.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
virtual ~DARTModel()
Destructor.
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
virtual void Fini()
Finalize the model.
DARTModel(BasePtr _parent)
Constructor.
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
virtual void Load(sdf::ElementPtr _sdf)
Load the entity.
virtual void Update()
Update the object.