Definition of a box. More...

#include <bodies.h>

Inheritance diagram for bodies::Box:

Public Member Functions
	Box ()

	Box (const AABB &aabb)

	Box (const shapes::Shape *shape)

BodyPtr	cloneAt (const Eigen::Isometry3d &pose, double padding, double scale) const override
	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...

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

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

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

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

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

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

std::vector< double >	getDimensions () const override
	Get the length & width & height (x, y, z) of the box. More...

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

bool	intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=nullptr, unsigned int count=0) const override
	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...

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

void	updateInternalData () override
	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...

	~Box () override=default

Public Member Functions inherited from bodies::Body
	Body ()

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

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

shapes::ShapeType	getType () const
	Get the type of shape this body represents. 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	~Body ()=default

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

Protected Attributes
Eigen::Vector3d	center_

double	height2_

double	height_

Eigen::Matrix3d	invRot_

double	length2_

double	length_

Eigen::Vector3d	maxCorner_
	The translated, but not rotated max corner. More...

Eigen::Vector3d	minCorner_
	The translated, but not rotated min corner. More...

double	radius2_

double	radiusB_

double	width2_

double	width_

Protected Attributes inherited from bodies::Body
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

Definition of a box.

Definition at line 443 of file bodies.h.

Constructor & Destructor Documentation

◆ Box() [1/3]

bodies::Box::Box ( )

inline

Definition at line 446 of file bodies.h.

◆ Box() [2/3]

bodies::Box::Box ( const shapes::Shape * shape )

inline

Definition at line 451 of file bodies.h.

◆ Box() [3/3]

bodies::Box::Box ( const AABB & aabb )

explicit

Definition at line 764 of file bodies.cpp.

◆ ~Box()

bodies::Box::~Box ( )

overridedefault

Member Function Documentation

◆ cloneAt()

std::shared_ptr< bodies::Body > bodies::Box::cloneAt	(	const Eigen::Isometry3d &	pose,
		double	padding,
		double	scaling
	)		const

overridevirtual

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.

Implements bodies::Body.

Definition at line 624 of file bodies.cpp.

◆ computeBoundingBox() [1/2]

void bodies::Box::computeBoundingBox ( AABB & bbox ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 679 of file bodies.cpp.

◆ computeBoundingBox() [2/2]

void bodies::Box::computeBoundingBox ( OBB & bbox ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 686 of file bodies.cpp.

◆ computeBoundingCylinder()

void bodies::Box::computeBoundingCylinder ( BoundingCylinder & cylinder ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 648 of file bodies.cpp.

◆ computeBoundingSphere()

void bodies::Box::computeBoundingSphere ( BoundingSphere & sphere ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 642 of file bodies.cpp.

◆ computeVolume()

double bodies::Box::computeVolume ( ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 637 of file bodies.cpp.

◆ containsPoint()

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

overridevirtual

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

Implements bodies::Body.

Definition at line 572 of file bodies.cpp.

◆ getDimensions()

std::vector< double > bodies::Box::getDimensions ( ) const

overridevirtual

Get the length & width & height (x, y, z) of the box.

Implements bodies::Body.

Definition at line 586 of file bodies.cpp.

◆ getScaledDimensions()

std::vector< double > bodies::Box::getScaledDimensions ( ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 591 of file bodies.cpp.

◆ intersectsRay()

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

overridevirtual

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.

Implements bodies::Body.

Definition at line 691 of file bodies.cpp.

◆ samplePointInside()

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

overridevirtual

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 from bodies::Body.

Definition at line 564 of file bodies.cpp.

◆ updateInternalData()

void bodies::Box::updateInternalData ( )

overridevirtual

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.

Implements bodies::Body.

Definition at line 596 of file bodies.cpp.

◆ useDimensions()

void bodies::Box::useDimensions ( const shapes::Shape * shape )

overrideprotectedvirtual

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

Implements bodies::Body.

Definition at line 578 of file bodies.cpp.

Member Data Documentation

◆ center_

Eigen::Vector3d bodies::Box::center_

protected

Definition at line 489 of file bodies.h.

◆ height2_

double bodies::Box::height2_

protected

Definition at line 497 of file bodies.h.

◆ height_

double bodies::Box::height_

protected

Definition at line 486 of file bodies.h.

◆ invRot_

Eigen::Matrix3d bodies::Box::invRot_

protected

Definition at line 490 of file bodies.h.

◆ length2_

double bodies::Box::length2_

protected

Definition at line 495 of file bodies.h.

◆ length_

double bodies::Box::length_

protected

Definition at line 484 of file bodies.h.

◆ maxCorner_

Eigen::Vector3d bodies::Box::maxCorner_

protected

The translated, but not rotated max corner.

Definition at line 493 of file bodies.h.

◆ minCorner_

Eigen::Vector3d bodies::Box::minCorner_

protected

The translated, but not rotated min corner.

Definition at line 492 of file bodies.h.

◆ radius2_

double bodies::Box::radius2_

protected

Definition at line 499 of file bodies.h.

◆ radiusB_

double bodies::Box::radiusB_

protected

Definition at line 498 of file bodies.h.

◆ width2_

double bodies::Box::width2_

protected

Definition at line 496 of file bodies.h.

◆ width_

double bodies::Box::width_

protected

Definition at line 485 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

◆ Box() [1/3]

◆ Box() [2/3]

◆ Box() [3/3]

◆ ~Box()

Member Function Documentation

◆ cloneAt()

◆ computeBoundingBox() [1/2]

◆ computeBoundingBox() [2/2]

◆ computeBoundingCylinder()

◆ computeBoundingSphere()

◆ computeVolume()

◆ containsPoint()

◆ getDimensions()

◆ getScaledDimensions()

◆ intersectsRay()

◆ samplePointInside()

◆ updateInternalData()

◆ useDimensions()

Member Data Documentation

◆ center_

◆ height2_

◆ height_

◆ invRot_

◆ length2_

◆ length_

◆ maxCorner_

◆ minCorner_

◆ radius2_

◆ radiusB_

◆ width2_

◆ width_