Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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MeshObstacle Class Reference

#include <meshobstacle.h>

Inheritance diagram for MeshObstacle:
Collaboration diagram for MeshObstacle:

Public Member Functions

 MeshObstacle (const OdeHandle &odeHandle, const OsgHandle &osgHandle, std::string filename, double scale=1)
 
virtual void update ()
 updates the position of the geoms ( not nessary for static objects) More...
 
virtual void setPose (const osg::Matrix &pose)
 sets position of the obstacle and creates/recreates obstacle if necessary More...
 
- Public Member Functions inherited from AbstractObstacle
 AbstractObstacle (const OdeHandle &odeHandle, const OsgHandle &osgHandle)
 Constructor. More...
 
virtual ~AbstractObstacle ()
 
virtual void setPos (const osg::Vec3 &pos)
 sets position of the obstacle and creates/recreates obstacle if necessary More...
 
virtual void setPosition (const osg::Vec3 &pos)
 sets position of the obstacle and creates/recreates obstacle if necessary More...
 
virtual osg::Vec3 getPos ()
 gives actual position of the obstacle More...
 
virtual osg::Matrix getPose ()
 gives actual pose of the obstacle More...
 
virtual void setColor (const Color &color)
 sets the obstacle color More...
 
virtual void setColor (const std::string &color)
 
virtual void setTexture (const std::string &texturefilename)
 assigns a texture to the all primitives of this obstactle with repeat -1,-1 More...
 
virtual void setTexture (const TextureDescr &texture)
 assigns a texture to the all primitives of this obstactle More...
 
virtual void setTexture (int surface, const TextureDescr &texture)
 assigns a texture to the x-th surface of each primitive, More...
 
virtual void setTexture (int primitive, int surface, const TextureDescr &texture)
 assigns a texture to the x-th surface of the k-th primitive, (The texture setting of the last primitve is repeated for the remaining ones) More...
 
virtual TextureDescr getTexture (int primitive, int surface) const
 returns the texture of the given surface on the given primitive More...
 
virtual std::vector< TextureDescrgetTextures (int primitive) const
 returns the textures of the given primitive More...
 
virtual PrimitivegetMainPrimitive () const =0
 return the "main" primitive of the obtactle. The meaning of "main" is arbitrary More...
 
virtual void setSubstance (const Substance &substance)
 sets the substance of the obtactle. More...
 
virtual const SubstancegetSubstance ()
 returns the substance of this obstacle More...
 
virtual Position getPosition () const
 returns position of the object More...
 
virtual Position getSpeed () const
 returns linear speed vector of the object More...
 
virtual Position getAngularSpeed () const
 returns angular velocity vector of the object More...
 
virtual matrix::Matrix getOrientation () const
 returns the orientation of the object More...
 

Protected Member Functions

virtual void create ()
 overload this function to create the obstactle. All primitives should go into the list "obst" More...
 
virtual void destroy ()
 is called to destroy the object. The default implementation is to delete all primitives in "obst". More...
 

Protected Attributes

std::string filename
 
float scale
 
OSGMeshmesh
 
Spherebound
 
BoundingShapeboundshape
 
- Protected Attributes inherited from AbstractObstacle
std::vector< Primitive * > obst
 primitives which belong to this obstacle More...
 
std::vector< std::vector
< TextureDescr > > 
textures
 for each primitive the texture settings per surface More...
 
osg::Matrix pose
 
bool obstacle_exists
 
OdeHandle odeHandle
 
OsgHandle osgHandle
 

Constructor & Destructor Documentation

MeshObstacle ( const OdeHandle odeHandle,
const OsgHandle osgHandle,
std::string  filename,
double  scale = 1 
)
inline

Member Function Documentation

virtual void create ( )
inlineprotectedvirtual

overload this function to create the obstactle. All primitives should go into the list "obst"

Implements AbstractObstacle.

virtual void destroy ( )
inlineprotectedvirtual

is called to destroy the object. The default implementation is to delete all primitives in "obst".

Reimplemented from AbstractObstacle.

virtual void setPose ( const osg::Matrix pose)
inlinevirtual

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

Implements AbstractObstacle.

virtual void update ( )
inlinevirtual

updates the position of the geoms ( not nessary for static objects)

Reimplemented from AbstractObstacle.

Member Data Documentation

Sphere* bound
protected
BoundingShape* boundshape
protected
std::string filename
protected
OSGMesh* mesh
protected
float scale
protected

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