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SimpleSolid.hh
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* Desc: Model for simple solids 00022 * Author: Andrew Howard 00023 * Date: 3 Aug 2003 00024 * CVS: $Id: SimpleSolid.hh,v 1.5 2004/05/24 05:49:25 inspectorg Exp $ 00025 */ 00026 00027 #ifndef SIMPLESOLID_HH 00028 #define SIMPLESOLID_HH 00029 00030 #include "Body.hh" 00031 #include "Model.hh" 00032 00033 // Forward declarations 00034 class Geom; 00035 00036 00037 class SimpleSolid : public Model 00038 { 00039 // Constructor, destructor 00040 public: SimpleSolid( World *world ); 00041 public: virtual ~SimpleSolid(); 00042 00043 // Load the model 00044 public: virtual int Load( WorldFile *file, WorldFileNode *node ); 00045 00046 // Initialize the model 00047 public: virtual int Init( WorldFile *file, WorldFileNode *node ); 00048 00049 // Finalize the model 00050 public: virtual int Fini(); 00051 00052 // Update the model state 00053 public: virtual void Update( double step ); 00054 00055 // Load ODE stuff 00056 private: int OdeLoad( WorldFile *file, WorldFileNode *node ); 00057 00058 // ODE objects 00059 private: Body *body; 00060 private: Geom *geom; 00061 }; 00062 00063 00064 #endif
