---

OSCAR::Primitive Class Reference
[ObstacleAvoidance]

Base for geometric primitives.

#include <Primitive.hpp>

Inheritance diagram for OSCAR::Primitive:

[legend]List of all members.

Public Methods
	Primitive ()
	Primitive (const Primitive &arg)
virtual	~Primitive ()
Primitive &	operator= (const Primitive &rhs)
virtual Primitive *	Clone () const=0
bool	SetProperties ()
const DT_ObjectHandle	GetSolidHandle () const
void	AddResponseClass (DT_RespTableHandle respTable)
const vector< DT_ResponseClass > &	GetResponseClasses () const
virtual bool	Update (const Xform &transform)
Protected Methods
virtual bool	createSolid ()
void	destroySolid ()
Protected Attributes
DT_ObjectHandle	solidHandle
DT_ShapeHandle	shapeHandle
vector< DT_ResponseClass >	respClasses

---

Constructor & Destructor Documentation

OSCAR::Primitive::Primitive (    )

Constructor Used to create arrays of Primitive objects. Note: SetProperties(...) must be called before any other function.

OSCAR::Primitive::Primitive (  const Primitive &    arg )

Copy Constructor. Parameters: arg  The Primitive to copy

virtual OSCAR::Primitive::~Primitive (    )  [virtual]

Destructor.

---

Member Function Documentation

void OSCAR::Primitive::AddResponseClass (  DT_RespTableHandle    respTable )  [inline]

virtual Primitive* OSCAR::Primitive::Clone (    )  const [pure virtual]

Clone this object. Every derived class must implement this method. Returns: A pointer to the cloned object which MUST be deleted or there will be memory leak. Implemented in OSCAR::Box, OSCAR::Cone, OSCAR::Cylisphere, OSCAR::Plane, OSCAR::Polytope, OSCAR::SkeletalPrimitive, and OSCAR::Sphere.

virtual bool OSCAR::Primitive::createSolid (    )  [inline, protected, virtual]

Reimplemented in OSCAR::Box, OSCAR::Cone, OSCAR::Cylisphere, OSCAR::Plane, OSCAR::Polytope, and OSCAR::Sphere.

void OSCAR::Primitive::destroySolid (    )  [protected]

const vector<DT_ResponseClass>& OSCAR::Primitive::GetResponseClasses (    )  const [inline]

const DT_ObjectHandle OSCAR::Primitive::GetSolidHandle (    )  const [inline]

Gives access to the DT_ObjectHandle for use with the SOLID collision detection third party software. Returns: const DT_ObjectHandle which represents the primitive in SOLID. If the obstacle avoidance library has not been built with the SOLID functionality enabled, this function will return a NULL value.

Primitive& OSCAR::Primitive::operator= (  const Primitive &    rhs )

bool OSCAR::Primitive::SetProperties (    )  [inline]

Update private members Included simply as a standard name to be used for changing primitive info in derived classes. Returns: 0

virtual bool OSCAR::Primitive::Update (  const Xform &    transform )  [inline, virtual]

Transform the local points to the global points using a user specified Xform. Parameters: transform  The Xform that will be used to transform the local points to the global frame Returns: True upon completion, false if unimplemented for the class Reimplemented from OSCAR::ModelingObject. Reimplemented in OSCAR::Box, OSCAR::Cone, OSCAR::Polytope, and OSCAR::SkeletalPrimitive.

---

Member Data Documentation

vector<DT_ResponseClass> OSCAR::Primitive::respClasses [protected]

DT_ShapeHandle OSCAR::Primitive::shapeHandle [protected]

DT_ObjectHandle OSCAR::Primitive::solidHandle [protected]

---

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

• Primitive.hpp

RRG Homepage

OSCAR Overview

OSCAR Tutorials

Simulations