Introduction

This package implements a library built on Open Scene Graph to display various geometric primitives.

The library is able to parse urdf files and to create objects with each link of the robot. Basic geometric primitives can also be built (boxes, cylinders, capsules,...). See graphics::Node inheritance diagram for a list of handled 3D objects.

As in OpenSceneGraph, objects are organized in trees. This package does not implement a kinematic chain. Each object must be placed separately in its parent frame.

The main entry points are:

• class graphics::Node:
• class graphics::WindowManager:
• class graphics::WindowsManager: