Robot Simulator of the Robotics Group for Self-Organization of Control: primitive.cpp File Reference

# primitive.cpp File Reference

`#include <assert.h>`
`#include <osg/MatrixTransform>`
`#include <osg/Vec4>`
`#include "primitive.h"`
`#include "pos.h"`
`#include "boundingshape.h"`
`#include "osgprimitive.h"`
`#include "odehandle.h"`
`#include "globaldata.h"`
`#include <selforg/quickmp.h>`
Include dependency graph for primitive.cpp:

## Namespaces
namespace | lpzrobots

| forward declarations
## Functions
Pose | osgPose (dGeomID geom)
| returns the osg (4x4) pose matrix of the ode geom
Pose | osgPose (dBodyID body)
| returns the osg (4x4) pose matrix of the ode body
Pose | osgPose (const double *position, const double *rotation)
| converts a position vector and a rotation matrix from ode to osg 4x4 matrix
void | odeRotation (const Pose &pose, dMatrix3 &odematrix)
| converts the rotation component of pose into an ode rotation matrix
## Variables
int | globalNumVelocityViolations = 0
| counts number of max velocity violations at joints (Attention, this is a global variable, initialized to 0 at start)