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18 #ifndef _GAZEBO_DARTMODEL_HH_
19 #define _GAZEBO_DARTMODEL_HH_
31 class DARTModelPrivate;
50 public:
virtual void Load(sdf::ElementPtr _sdf);
53 public:
virtual void Init();
56 public:
virtual void Update();
59 public:
virtual void Fini();
62 public:
void BackupState();
65 public:
void RestoreState();
69 public: dart::dynamics::SkeletonPtr DARTSkeleton();
81 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:40
virtual void Init()
Initialize the 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 ~DARTModel()
Destructor.
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.