Robotsystem from Robot Group Leipzig: primitive.h File Reference

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# primitive.h File Reference

`#include "osgprimitive.h"`
`#include "odehandle.h"`
`#include <osg/Matrix>`
`#include <ode/common.h>`

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## Namespaces
namespace | lpzrobots
## 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 | 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...
## Functions
osg::Matrix | lpzrobots::osgPose (dGeomID geom)
| returns the osg (4x4) pose matrix of the ode geom
osg::Matrix | lpzrobots::osgPose (dBodyID body)
| returns the osg (4x4) pose matrix of the ode body
osg::Matrix | lpzrobots::osgPose (const double *position, const double *rotation)
| converts a position vector and a rotation matrix from ode to osg 4x4 matrix
void | lpzrobots::odeRotation (const osg::Matrix &pose, dMatrix3 &odematrix)
| converts the rotation component of pose into an ode rotation matrix