Robotics Library
0.6.2
rl
sg
ode
Body.h
Go to the documentation of this file.
1
//
2
// Copyright (c) 2009, Markus Rickert
3
// All rights reserved.
4
//
5
// Redistribution and use in source and binary forms, with or without
6
// modification, are permitted provided that the following conditions are met:
7
//
8
// * Redistributions of source code must retain the above copyright notice,
9
// this list of conditions and the following disclaimer.
10
// * Redistributions in binary form must reproduce the above copyright notice,
11
// this list of conditions and the following disclaimer in the documentation
12
// and/or other materials provided with the distribution.
13
//
14
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
15
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
16
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
17
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
18
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
19
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
20
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
21
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
22
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
23
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
24
// POSSIBILITY OF SUCH DAMAGE.
25
//
26
27
#ifndef _RL_SG_ODE_BODY_H_
28
#define _RL_SG_ODE_BODY_H_
29
30
#include <ode/ode.h>
31
32
#include "../Body.h"
33
34
namespace
rl
35
{
36
namespace
sg
37
{
38
namespace
ode
39
{
40
class
Model;
41
42
class
Body
:
public
::rl::sg::Body
43
{
44
public
:
45
Body
(
Model
*
model
);
46
47
virtual
~Body
();
48
49
::rl::sg::Shape
*
create
(SoVRMLShape* shape);
50
51
void
getFrame
(::
rl::math::Transform
& frame);
52
53
void
setFrame
(
const ::rl::math::Transform
& frame);
54
55
dBodyID
body
;
56
57
dSpaceID
space
;
58
59
protected
:
60
61
private
:
62
63
};
64
}
65
}
66
}
67
68
#endif // _RL_SG_ODE_BODY_H_
rl::sg::ode::Body::getFrame
void getFrame(::rl::math::Transform &frame)
Definition:
Body.cpp:66
rl::sg::Body::model
Model * model
Definition:
Body.h:90
rl::sg::ode::Body
Definition:
Body.h:43
rl::sg::Body
Definition:
Body.h:45
rl::sg::ode::Body::create
::rl::sg::Shape * create(SoVRMLShape *shape)
Definition:
Body.cpp:60
rl::sg::ode::Body::space
dSpaceID space
Definition:
Body.h:57
rl::sg::ode::Body::~Body
virtual ~Body()
Definition:
Body.cpp:46
rl::sg::ode::Body::setFrame
void setFrame(const ::rl::math::Transform &frame)
Definition:
Body.cpp:86
rl::sg::ode::Body::body
dBodyID body
Definition:
Body.h:55
rl::math::Transform
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Definition:
Transform.h:42
rl::sg::Shape
Definition:
Shape.h:41
rl::sg::ode::Body::Body
Body(Model *model)
Definition:
Body.cpp:38
rl::sg::ode::Model
Definition:
Model.h:43
rl
Definition:
Ati.cpp:35
Generated by
1.8.20