PhysicsTypes.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _PHYSICSTYPES_HH_
18 #define _PHYSICSTYPES_HH_
19 
20 #include <vector>
21 #include <map>
22 #include <string>
23 #include <boost/shared_ptr.hpp>
24 #include "gazebo/util/system.hh"
25 
29 namespace gazebo
30 {
32  namespace physics
33  {
34  class Base;
35  class Entity;
36  class World;
37  class Model;
38  class Actor;
39  class Link;
40  class Collision;
41  class Gripper;
42  class Joint;
43  class JointController;
44  class Contact;
45  class PhysicsEngine;
46  class Mass;
47  class Road;
48  class Shape;
49  class RayShape;
50  class MultiRayShape;
51  class Inertial;
52  class SurfaceParams;
53  class BoxShape;
54  class CylinderShape;
55  class MeshShape;
56  class SphereShape;
57  class MeshShape;
58  class HeightmapShape;
59  class ModelState;
60  class LinkState;
61  class JointState;
62 
65  typedef boost::shared_ptr<Base> BasePtr;
66 
69  typedef boost::shared_ptr<Contact> ContactPtr;
70 
73  typedef boost::shared_ptr<Entity> EntityPtr;
74 
77  typedef boost::shared_ptr<World> WorldPtr;
78 
81  typedef boost::shared_ptr<Model> ModelPtr;
82 
85  typedef boost::shared_ptr<Actor> ActorPtr;
86 
89  typedef boost::shared_ptr<Link> LinkPtr;
90 
93  typedef boost::shared_ptr<Collision> CollisionPtr;
94 
97  typedef boost::shared_ptr<Joint> JointPtr;
98 
101  typedef boost::shared_ptr<JointController> JointControllerPtr;
102 
105  typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr;
106 
109  typedef boost::shared_ptr<Shape> ShapePtr;
110 
113  typedef boost::shared_ptr<RayShape> RayShapePtr;
114 
117  typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr;
118 
121  typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr;
122 
125  typedef boost::shared_ptr<Inertial> InertialPtr;
126 
129  typedef boost::shared_ptr<Road> RoadPtr;
130 
133  typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr;
134 
137  typedef boost::shared_ptr<BoxShape> BoxShapePtr;
138 
141  typedef boost::shared_ptr<CylinderShape> CylinderShapePtr;
142 
145  typedef boost::shared_ptr<SphereShape> SphereShapePtr;
146 
149  typedef boost::shared_ptr<MeshShape> MeshShapePtr;
150 
153  typedef boost::shared_ptr<Gripper> GripperPtr;
154 
157  typedef std::vector<BasePtr> Base_V;
158 
161  typedef std::vector<ModelPtr> Model_V;
162 
165  typedef std::vector<ActorPtr> Actor_V;
166 
169  typedef std::vector<JointPtr> Joint_V;
170 
173  typedef std::vector<JointControllerPtr> JointController_V;
174 
177  typedef std::vector<LinkPtr> Link_V;
178 
181  typedef std::vector<CollisionPtr> Collision_V;
182 
185  typedef std::map<std::string, ModelState> ModelState_M;
186 
189  typedef std::map<std::string, LinkState> LinkState_M;
190 
193  typedef std::map<std::string, JointState> JointState_M;
194 
195  #ifndef GZ_COLLIDE_BITS
196 
200  #define GZ_ALL_COLLIDE 0x0FFFFFFF
201 
204  #define GZ_NONE_COLLIDE 0x00000000
205 
208  #define GZ_FIXED_COLLIDE 0x00000001
209 
212  #define GZ_SENSOR_COLLIDE 0x00000002
213 
216  #define GZ_GHOST_COLLIDE 0x10000000
217 
218  #endif
219  }
220 }
221 #endif
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:169
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:65
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:81
Forward declarations for the common classes.
Definition: Animation.hh:24
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:109
std::map< std::string, JointState > JointState_M
Definition: PhysicsTypes.hh:193
boost::shared_ptr< Inertial > InertialPtr
Definition: PhysicsTypes.hh:125
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:177
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:93
boost::shared_ptr< JointController > JointControllerPtr
Definition: PhysicsTypes.hh:101
boost::shared_ptr< MultiRayShape > MultiRayShapePtr
Definition: PhysicsTypes.hh:121
std::vector< JointControllerPtr > JointController_V
Definition: PhysicsTypes.hh:173
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:105
std::map< std::string, ModelState > ModelState_M
Definition: PhysicsTypes.hh:185
std::vector< ActorPtr > Actor_V
Definition: PhysicsTypes.hh:165
boost::shared_ptr< Contact > ContactPtr
Definition: PhysicsTypes.hh:69
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:73
Used to render a strip of road.
boost::shared_ptr< SurfaceParams > SurfaceParamsPtr
Definition: PhysicsTypes.hh:133
boost::shared_ptr< SphereShape > SphereShapePtr
Definition: PhysicsTypes.hh:145
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:77
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:97
boost::shared_ptr< Actor > ActorPtr
Definition: PhysicsTypes.hh:85
std::map< std::string, LinkState > LinkState_M
Definition: PhysicsTypes.hh:189
boost::shared_ptr< HeightmapShape > HeightmapShapePtr
Definition: PhysicsTypes.hh:117
std::vector< CollisionPtr > Collision_V
Definition: PhysicsTypes.hh:181
std::vector< ModelPtr > Model_V
Definition: PhysicsTypes.hh:161
boost::shared_ptr< Gripper > GripperPtr
Definition: PhysicsTypes.hh:153
boost::shared_ptr< MeshShape > MeshShapePtr
Definition: PhysicsTypes.hh:149
boost::shared_ptr< BoxShape > BoxShapePtr
Definition: PhysicsTypes.hh:137
boost::shared_ptr< CylinderShape > CylinderShapePtr
Definition: PhysicsTypes.hh:141
std::vector< BasePtr > Base_V
Definition: PhysicsTypes.hh:157
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:89
boost::shared_ptr< RayShape > RayShapePtr
Definition: PhysicsTypes.hh:113
boost::shared_ptr< Road > RoadPtr
Definition: PhysicsTypes.hh:129