Road.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GAZEBO_PHYSICS_ROAD_HH_
#define GAZEBO_PHYSICS_ROAD_HH_

#include <string>
#include <vector>
#include <algorithm>
#include <ignition/math/Vector3.hh>
#include <ignition/transport/Node.hh>

#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/physics/Base.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE Road : public Base
    {
      public: explicit Road(BasePtr _parent);

      public: virtual ~Road();

      public: void Load(sdf::ElementPtr _sdf);

      public: virtual void Init();

      public: virtual void Fini();

      public: const std::vector<ignition::math::Vector3d> &Points() const;

      public: double GetWidth() const;

      private: double width;

      private: std::vector<ignition::math::Vector3d> points;

      private: transport::NodePtr node;

      private: transport::PublisherPtr roadPub;

      // Place ignition::transport objects at the end of this file to
      // guarantee they are destructed first.

      private: ignition::transport::Node nodeIgn;

      private: ignition::transport::Node::Publisher roadPubIgn;
    };
  }
}
#endif