text: /*
   * 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_RENDERING_COMVISUAL_HH_
  #define GAZEBO_RENDERING_COMVISUAL_HH_
  
  #include <string>
  #include <ignition/math/Pose3.hh>
  
  #include "gazebo/rendering/Visual.hh"
  #include "gazebo/util/system.hh"
  
  namespace gazebo
  {
    namespace rendering
    {
      /// \addtogroup gazebo_rendering Rendering
      /// \{
  
      /// \class COMVisual COMVisual.hh rendering/rendering.hh
      /// \brief Basic Center of Mass visualization
      class GZ_RENDERING_VISIBLE COMVisual : public Visual
      {
        /// \brief Constructor
        /// \param[in] _name Name of the Visual
        /// \param[in] _vis Parent Visual
        public: COMVisual(const std::string &_name, VisualPtr _vis);
  
        /// \brief Destructor
        public: ~COMVisual();
  
        /// \brief Load the Visual from an SDF pointer
        /// \param[in] _elem SDF Element pointer
        public: virtual void Load(sdf::ElementPtr _elem);
        using Visual::Load;
  
        /// \brief Load from a message
        /// \param[in] _msg Pointer to the message
        public: virtual void Load(ConstLinkPtr &_msg);
  
        /// \brief Get inertia pose.
        /// \return Inertia pose in link frame.
        public: ignition::math::Pose3d InertiaPose() const;
  
        /// \brief Load using previously set member variables.
        private: void Load();
      };
      /// \}
    }
  }
  #endif
  