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17 #ifndef GAZEBO_PHYSICS_DART_DARTMULTIRAYSHAPE_HH_
18 #define GAZEBO_PHYSICS_DART_DARTMULTIRAYSHAPE_HH_
32 class DARTMultiRayShapePrivate;
45 public:
virtual void UpdateRays();
50 protected:
void AddRay(
const ignition::math::Vector3d &_start,
51 const ignition::math::Vector3d &_end);
55 private: DARTMultiRayShapePrivate *dataPtr;
DART wrapper forward declarations and typedefs.
Forward declarations for the common classes.
Definition: Animation.hh:26
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.
Definition: MultiRayShape.hh:39
virtual ~DARTMultiRayShape()
Destructor.
virtual void UpdateRays()
Method for updating the rays.
DART specific version of MultiRayShape.
Definition: DARTMultiRayShape.hh:35
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:49
void AddRay(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
Add a ray to the collision.
DARTMultiRayShape(DARTCollisionPtr _parent)
Constructor.