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Body.hh

#ifndef BODY_HH
#define BODY_HH

#include <ode/ode.h>
#include <boost/any.hpp>
#include <list>
#include <vector>

#include "UpdateParams.hh"
#include "XMLConfig.hh"
#include "Entity.hh"
#include "Pose3d.hh"

namespace Ogre
{
  class SceneNode;
}

namespace gazebo
{
  class Geom;
  class Sensor;


class Body : public Entity
{
  public: Body(Entity *parent, dWorldID worldId);

  public: virtual ~Body();

  public: virtual int Load(XMLConfigNode *node);

  public: virtual int Init();

  public: void Fini();

  public: virtual int Update(UpdateParams &params);

  public: void AttachGeom( Geom *geom );

  public: void SetPose(const Pose3d &pose);

  public: Pose3d GetPose() const;

  public: void SetPosition(const Vector3 &pos);

  public: void SetRotation(const Quatern &rot);

  public: Vector3 GetPosition() const;

  public: Quatern GetRotation() const;

  public: dBodyID GetId() const;

  public: void SetEnabled(bool enable) const;

  public: void UpdateCoM();

  public: const Pose3d &GetCoMPose() const;

  public: void SetGravityMode(bool mode);

  private: int LoadGeom(XMLConfigNode *node);

  private: void LoadSensor(XMLConfigNode *node);

  private: std::vector< Geom* > geoms;

  private: std::vector< Sensor* > sensors;

  private: dBodyID bodyId;

  private: dMass mass;

  private: std::string name;

  private: bool isStatic;

  private: Pose3d comPose;
  private: Pose3d staticPose;
};

}
#endif

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Last updated Aug 04 2007