A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed. More...

#include <bodies.h>

Inheritance diagram for bodies::Body:

[legend]

Public Member Functions
	Body ()

BodyPtr	cloneAt (const Eigen::Isometry3d &pose) const
	Get a clone of this body, but one that is located at the pose pose. More...

virtual BodyPtr	cloneAt (const Eigen::Isometry3d &pose, double padding, double scaling) const =0
	Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around. More...

virtual void	computeBoundingBox (AABB &bbox) const =0
	Compute the axis-aligned bounding box for the body, in its current pose. Scaling and padding are accounted for. More...

virtual void	computeBoundingBox (OBB &bbox) const =0
	Compute the oriented bounding box for the body, in its current pose. Scaling and padding are accounted for. More...

virtual void	computeBoundingCylinder (BoundingCylinder &cylinder) const =0
	Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for. More...

virtual void	computeBoundingSphere (BoundingSphere &sphere) const =0
	Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for. More...

virtual double	computeVolume () const =0
	Compute the volume of the body. This method includes changes induced by scaling and padding. More...

virtual bool	containsPoint (const Eigen::Vector3d &p, bool verbose=false) const =0
	Check if a point is inside the body. Surface points are included. More...

bool	containsPoint (double x, double y, double z, bool verbose=false) const
	Check if a point is inside the body. More...

virtual std::vector< double >	getDimensions () const =0
	Get the dimensions associated to this body (as read from corresponding shape) More...

double	getPadding () const
	Retrieve the current padding. More...

const Eigen::Isometry3d &	getPose () const
	Retrieve the pose of the body. More...

double	getScale () const
	Retrieve the current scale. More...

virtual std::vector< double >	getScaledDimensions () const =0
	Get the dimensions associated to this body (scaled and padded) More...

shapes::ShapeType	getType () const
	Get the type of shape this body represents. More...

virtual bool	intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=nullptr, unsigned int count=0) const =0
	Check if a ray intersects the body, and find the set of intersections, in order, along the ray. A maximum number of intersections can be specified as well. If that number is 0, all intersections are returned. Passing dir as a unit vector will result in faster computation. More...

virtual bool	samplePointInside (random_numbers::RandomNumberGenerator &rng, unsigned int max_attempts, Eigen::Vector3d &result) const
	Sample a point that is included in the body using a given random number generator. More...

void	setDimensions (const shapes::Shape *shape)
	Set the dimensions of the body (from corresponding shape) More...

void	setDimensionsDirty (const shapes::Shape *shape)
	Set the dimensions of the body (from corresponding shape). More...

void	setPadding (double padd)
	If constant padding should be added to the body, this method sets the padding. Default is 0.0. More...

void	setPaddingDirty (double padd)
	If the dimension of the body should be padded, this method sets the pading. More...

void	setPose (const Eigen::Isometry3d &pose)
	Set the pose of the body. Default is identity. More...

void	setPoseDirty (const Eigen::Isometry3d &pose)
	Set the pose of the body. More...

void	setScale (double scale)
	If the dimension of the body should be scaled, this method sets the scale. Default is 1.0. More...

void	setScaleDirty (double scale)
	If the dimension of the body should be scaled, this method sets the scale. More...

virtual void	updateInternalData ()=0
	This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date. More...

virtual	~Body ()=default

Protected Member Functions
virtual void	useDimensions (const shapes::Shape *shape)=0
	Depending on the shape, this function copies the relevant data to the body. More...

Protected Attributes
double	padding_
	The scale that was set for this body. More...

Eigen::Isometry3d	pose_
	The location of the body (position and orientation) More...

double	scale_
	The scale that was set for this body. More...

shapes::ShapeType	type_
	The type of shape this body was constructed from. More...

Detailed Description

A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed.

Definition at line 121 of file bodies.h.

Constructor & Destructor Documentation

◆ Body()

bodies::Body::Body ( )

inline

Definition at line 124 of file bodies.h.

◆ ~Body()

virtual bodies::Body::~Body ( )

virtualdefault

Member Function Documentation

◆ cloneAt() [1/2]

BodyPtr bodies::Body::cloneAt ( const Eigen::Isometry3d & pose ) const

inline

Get a clone of this body, but one that is located at the pose pose.

Definition at line 290 of file bodies.h.

◆ cloneAt() [2/2]

virtual BodyPtr bodies::Body::cloneAt	(	const Eigen::Isometry3d &	pose,
		double	padding,
		double	scaling
	)		const

pure virtual

Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeBoundingBox() [1/2]

virtual void bodies::Body::computeBoundingBox ( AABB & bbox ) const

pure virtual

Compute the axis-aligned bounding box for the body, in its current pose. Scaling and padding are accounted for.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeBoundingBox() [2/2]

virtual void bodies::Body::computeBoundingBox ( OBB & bbox ) const

pure virtual

Compute the oriented bounding box for the body, in its current pose. Scaling and padding are accounted for.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeBoundingCylinder()

virtual void bodies::Body::computeBoundingCylinder ( BoundingCylinder & cylinder ) const

pure virtual

Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeBoundingSphere()

virtual void bodies::Body::computeBoundingSphere ( BoundingSphere & sphere ) const

pure virtual

Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeVolume()

virtual double bodies::Body::computeVolume ( ) const

pure virtual

Compute the volume of the body. This method includes changes induced by scaling and padding.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ containsPoint() [1/2]

virtual bool bodies::Body::containsPoint	(	const Eigen::Vector3d &	p,
		bool	verbose = `false`
	)		const

pure virtual

Check if a point is inside the body. Surface points are included.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ containsPoint() [2/2]

bool bodies::Body::containsPoint	(	double	x,
		double	y,
		double	z,
		bool	verbose = `false`
	)		const

inline

Check if a point is inside the body.

Definition at line 244 of file bodies.h.

◆ getDimensions()

virtual std::vector<double> bodies::Body::getDimensions ( ) const

pure virtual

Get the dimensions associated to this body (as read from corresponding shape)

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ getPadding()

double bodies::Body::getPadding ( ) const

inline

Retrieve the current padding.

Definition at line 186 of file bodies.h.

◆ getPose()

const Eigen::Isometry3d& bodies::Body::getPose ( ) const

inline

Retrieve the pose of the body.

Definition at line 212 of file bodies.h.

◆ getScale()

double bodies::Body::getScale ( ) const

inline

Retrieve the current scale.

Definition at line 159 of file bodies.h.

◆ getScaledDimensions()

virtual std::vector<double> bodies::Body::getScaledDimensions ( ) const

pure virtual

Get the dimensions associated to this body (scaled and padded)

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ getType()

shapes::ShapeType bodies::Body::getType ( ) const

inline

Get the type of shape this body represents.

Definition at line 132 of file bodies.h.

◆ intersectsRay()

virtual bool bodies::Body::intersectsRay	(	const Eigen::Vector3d &	origin,
		const Eigen::Vector3d &	dir,
		EigenSTL::vector_Vector3d *	intersections = `nullptr`,
		unsigned int	count = `0`
	)		const

pure virtual

Check if a ray intersects the body, and find the set of intersections, in order, along the ray. A maximum number of intersections can be specified as well. If that number is 0, all intersections are returned. Passing dir as a unit vector will result in faster computation.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ samplePointInside()

bool bodies::Body::samplePointInside	(	random_numbers::RandomNumberGenerator &	rng,
		unsigned int	max_attempts,
		Eigen::Vector3d &	result
	)		const

virtual

Sample a point that is included in the body using a given random number generator.

Sometimes multiple attempts need to be generated. The function terminates with failure (returns false) after max_attempts attempts. If the call is successful (returns true) the point is written to result

Reimplemented in bodies::Box, bodies::Cylinder, and bodies::Sphere.

Definition at line 129 of file bodies.cpp.

◆ setDimensions()

void bodies::Body::setDimensions ( const shapes::Shape * shape )

inline

Set the dimensions of the body (from corresponding shape)

Definition at line 237 of file bodies.h.

◆ setDimensionsDirty()

void bodies::Body::setDimensionsDirty ( const shapes::Shape * shape )

inline

Set the dimensions of the body (from corresponding shape).

Note: This is the dirty version of the function which does not update internal data that depend on the dimensions. In the general case, you should call setDimensions() instead. Only call this function if you have a series of calls like setScale/setPadding/setPose/setDimensions and you want to avoid the overhead of updating the internal structures after each call. When you are finished with the batch, call updateInternalData().

Parameters

shape The shape whose dimensions should be assumed. After the function finishes, the pointer can be deleted.

Definition at line 225 of file bodies.h.

◆ setPadding()

void bodies::Body::setPadding ( double padd )

inline

If constant padding should be added to the body, this method sets the padding. Default is 0.0.

Definition at line 179 of file bodies.h.

◆ setPaddingDirty()

void bodies::Body::setPaddingDirty ( double padd )

inline

If the dimension of the body should be padded, this method sets the pading.

Note: This is the dirty version of the function which does not update internal data that depend on the scale. In the general case, you should call setPadding() instead. Only call this function if you have a series of calls like setScale/setPadding/setPose/setDimensions and you want to avoid the overhead of updating the internal structures after each call. When you are finished with the batch, call updateInternalData().

Parameters

padd	The padding to set (in meters). 0.0 means no padding.

Definition at line 172 of file bodies.h.

◆ setPose()

void bodies::Body::setPose ( const Eigen::Isometry3d & pose )

inline

Set the pose of the body. Default is identity.

Definition at line 205 of file bodies.h.

◆ setPoseDirty()

void bodies::Body::setPoseDirty ( const Eigen::Isometry3d & pose )

inline

Set the pose of the body.

Note: This is the dirty version of the function which does not update internal data that depend on the pose. In the general case, you should call setPose() instead. Only call this function if you have a series of calls like setScale/setPadding/setPose/setDimensions and you want to avoid the overhead of updating the internal structures after each call. When you are finished with the batch, call updateInternalData().

Parameters

pose	The pose to set. Default is identity.

Definition at line 199 of file bodies.h.

◆ setScale()

void bodies::Body::setScale ( double scale )

inline

If the dimension of the body should be scaled, this method sets the scale. Default is 1.0.

Definition at line 152 of file bodies.h.

◆ setScaleDirty()

void bodies::Body::setScaleDirty ( double scale )

inline

If the dimension of the body should be scaled, this method sets the scale.

Note: This is the dirty version of the function which does not update internal data that depend on the scale. In the general case, you should call setScale() instead. Only call this function if you have a series of calls like setScale/setPadding/setPose/setDimensions and you want to avoid the overhead of updating the internal structures after each call. When you are finished with the batch, call updateInternalData().

Parameters

scale The scale to set. 1.0 means no scaling.

Definition at line 145 of file bodies.h.

◆ updateInternalData()

virtual void bodies::Body::updateInternalData ( )

pure virtual

This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ useDimensions()

virtual void bodies::Body::useDimensions ( const shapes::Shape * shape )

protectedpure virtual

Depending on the shape, this function copies the relevant data to the body.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

Member Data Documentation

◆ padding_

double bodies::Body::padding_

protected

The scale that was set for this body.

Definition at line 314 of file bodies.h.

◆ pose_

Eigen::Isometry3d bodies::Body::pose_

protected

The location of the body (position and orientation)

Definition at line 320 of file bodies.h.

◆ scale_

double bodies::Body::scale_

protected

The scale that was set for this body.

Definition at line 311 of file bodies.h.

◆ type_

shapes::ShapeType bodies::Body::type_

protected

The type of shape this body was constructed from.

Definition at line 317 of file bodies.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Body()

◆ ~Body()

Member Function Documentation

◆ cloneAt() [1/2]

◆ cloneAt() [2/2]

◆ computeBoundingBox() [1/2]

◆ computeBoundingBox() [2/2]

◆ computeBoundingCylinder()

◆ computeBoundingSphere()

◆ computeVolume()

◆ containsPoint() [1/2]

◆ containsPoint() [2/2]

◆ getDimensions()

◆ getPadding()

◆ getPose()

◆ getScale()

◆ getScaledDimensions()

◆ getType()

◆ intersectsRay()

◆ samplePointInside()

◆ setDimensions()

◆ setDimensionsDirty()

◆ setPadding()

◆ setPaddingDirty()

◆ setPose()

◆ setPoseDirty()

◆ setScale()

◆ setScaleDirty()

◆ updateInternalData()

◆ useDimensions()

Member Data Documentation

◆ padding_

◆ pose_

◆ scale_

◆ type_