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57 lines
1.9 KiB
57 lines
1.9 KiB
2 years ago
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#pragma once
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#include "drake/geometry/scene_graph.h"
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#include "drake/systems/framework/diagram_builder.h"
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#include "drake/systems/framework/leaf_system.h"
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namespace drake {
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namespace examples {
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namespace rod2d {
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// Expresses the Rod2D's geometry to a SceneGraph.
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///
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/// @system
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/// name: Rod2dGeometry
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/// input_ports:
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/// - state
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/// output_ports:
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/// - geometry_pose
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/// @endsystem
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///
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/// This class has no public constructor; instead use the AddToBuilder() static
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/// method to create and add it to a DiagramBuilder directly.
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class Rod2dGeometry final : public systems::LeafSystem<double> {
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public:
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DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(Rod2dGeometry);
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~Rod2dGeometry() final;
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/// Creates, adds, and connects a Rod2dGeometry system into the given
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/// `builder`. Both the `rod2d_state_port.get_system()` and `scene_graph`
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/// systems must have been added to the given `builder` already.
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///
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/// The `scene_graph` pointer is not retained by the %Rod2dGeometry
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/// system. The return value pointer is an alias of the new %Rod2dGeometry
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/// system that is owned by the `builder`.
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///
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/// The rod is visualized with a cylinder with the given `radius`, and
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/// `length` displayed with the a default grey color.
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static const Rod2dGeometry* AddToBuilder(
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double radius, double length, systems::DiagramBuilder<double>* builder,
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const systems::OutputPort<double>& rod2d_state_port,
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geometry::SceneGraph<double>* scene_graph);
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private:
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Rod2dGeometry(double radius, double length, geometry::SceneGraph<double>*);
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void OutputGeometryPose(const systems::Context<double>&,
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geometry::FramePoseVector<double>*) const;
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// Geometry source identifier for this system to interact with SceneGraph.
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geometry::SourceId source_id_{};
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// The id for the rod's body.
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geometry::FrameId frame_id_{};
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};
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} // namespace rod2d
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} // namespace examples
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} // namespace drake
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