/*
 * Copyright (C) 2020 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 IGNITION_GAZEBO_COMPONENTS_SLIPCOMPLIANCECMD_HH_
#define IGNITION_GAZEBO_COMPONENTS_SLIPCOMPLIANCECMD_HH_

#include <vector>

#include <ignition/gazebo/config.hh>
#include <ignition/gazebo/Export.hh>

#include <ignition/gazebo/components/Factory.hh>
#include "ignition/gazebo/components/Component.hh"

namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace components
{
  /// \brief A component type that contains the slip compliance parameters to be
  /// set on a collision. The 0 and 1 index values correspond to the slip
  /// compliance parameters in friction direction 1 (fdir1) and friction
  /// direction 2 (fdir2) respectively.
  using SlipComplianceCmd =
    Component<std::vector<double>, class SlipComplianceCmdTag>;
  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.SlipComplianceCmd ",
      SlipComplianceCmd)
}
}
}
}
#endif
