Robotsystem of the Robot Group Leipzig: AbstractObstacle Class Reference

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# AbstractObstacle Class Reference

Abstract class (interface) for obstacles. More...

`#include <abstractobstacle.h>`

Inherited by AbstractGround, MeshGround, MeshObstacle, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, and TerrainGround.

Inheritance diagram for AbstractObstacle:

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Collaboration diagram for AbstractObstacle:

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List of all members.

## Public Member Functions
| AbstractObstacle (const OdeHandle &odeHandle, const OsgHandle &osgHandle)
| Constructor.
virtual | ~AbstractObstacle ()
virtual void | update ()=0
| updates the position if the scenegraph nodes
virtual void | setPosition (const osg::Vec3 &pos)
| sets position of the obstacle and creates/recreates obstacle if necessary
virtual osg::Vec3 | getPosition ()
| gives actual position of the obstacle
virtual osg::Matrix | getPose ()
| gives actual pose of the obstacle
virtual void | setPose (const osg::Matrix &pose)=0
| sets position of the obstacle and creates/recreates obstacle if necessary
virtual void | setColor (const Color &color)
| sets the obstacle color
virtual Primitive * | getMainPrimitive () const =0
## Protected Member Functions
virtual void | destroy ()=0
virtual void | create ()=0
## Protected Attributes
osg::Matrix | pose
bool | obstacle_exists
OdeHandle | odeHandle
OsgHandle | osgHandle

## Detailed Description

Abstract class (interface) for obstacles.

## Constructor & Destructor Documentation

AbstractObstacle | ( | const OdeHandle & | odeHandle,
|  | const OsgHandle & | osgHandle |
| ) |  |  |

Constructor.

Parameters:

  | odeHandle | containing ODE stuff like world, space and jointgroup
  | osgHandle | containing OSG stuff like scene, color... be used for creation of obstacles

~AbstractObstacle | ( |  | ) | `[virtual]`

## Member Function Documentation

virtual void create | ( |  | ) | `[protected, pure virtual]`

Implemented in AbstractGround, ClosedPlayground, MeshGround, MeshObstacle, OctaPlayground, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, Playground, and TerrainGround.

virtual void destroy | ( |  | ) | `[protected, pure virtual]`

Implemented in AbstractGround, ClosedPlayground, MeshGround, MeshObstacle, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, and TerrainGround.

virtual Primitive* getMainPrimitive | ( |  | ) | const`[pure virtual]`

Implemented in AbstractGround, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, and TerrainGround.

osg::Matrix getPose | ( |  | ) | `[virtual]`

gives actual pose of the obstacle

osg::Vec3 getPosition | ( |  | ) | `[virtual]`

gives actual position of the obstacle

void setColor | ( | const Color & | color | ) | `[virtual]`

sets the obstacle color

Parameters:

  | color | values in RGBA

Reimplemented in AbstractGround.

virtual void setPose | ( | const osg::Matrix & | pose | ) | `[pure virtual]`

sets position of the obstacle and creates/recreates obstacle if necessary

Implemented in AbstractGround, MeshGround, MeshObstacle, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, and TerrainGround.

void setPosition | ( | const osg::Vec3 & | pos | ) | `[virtual]`

sets position of the obstacle and creates/recreates obstacle if necessary

virtual void update | ( |  | ) | `[pure virtual]`

updates the position if the scenegraph nodes

Implemented in AbstractGround, MeshGround, MeshObstacle, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, and TerrainGround.

## Member Data Documentation

bool obstacle_exists`[protected]`

OdeHandle odeHandle`[protected]`

OsgHandle osgHandle`[protected]`

osg::Matrix pose`[protected]`

The documentation for this class was generated from the following files:

- abstractobstacle.h
- abstractobstacle.cpp