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

# primitive.h File Reference

`#include <ode-dbl/common.h>`
`#include <selforg/storeable.h>`
`#include <vector>`
`#include "pos.h"`
`#include "pose.h"`
`#include "substance.h"`
`#include "osgforwarddecl.h"`
Include dependency graph for primitive.h:

Go to the source code of this file.

## Classes
class | Primitive
| Interface class for primitives represented in the physical and graphical world. More...
class | Plane
| Plane primitive. More...
class | Box
| Box primitive. More...
class | Sphere
| Sphere primitive. More...
class | Capsule
| Capsule primitive. More...
class | Cylinder
| Cylinder primitive. More...
class | Ray
| Ray primitive The actual visual representation can have different length than the ray object. More...
class | Mesh
| Mesh primitive. More...
class | Transform
| Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body). More...
class | DummyPrimitive
| Dummy Primitive which returns 0 for geom and body. More...
## 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