Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More...

#include <bodies.h>

Inheritance diagram for bodies::ConvexMesh:

Classes
struct	MeshData

Public Member Functions
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...

void	computeScaledVerticesFromPlaneProjections ()
	Project the original vertex to the scaled and padded planes and average. 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...

	ConvexMesh ()

	ConvexMesh (const shapes::Shape *shape)

void	correctVertexOrderFromPlanes ()

std::vector< double >	getDimensions () const override
	Returns an empty vector. More...

const EigenSTL::vector_Vector4d &	getPlanes () const
	Get the planes that define the convex shape. More...

std::vector< double >	getScaledDimensions () const override
	Returns an empty vector. More...

const EigenSTL::vector_Vector3d &	getScaledVertices () const

const std::vector< unsigned int > &	getTriangles () const

const EigenSTL::vector_Vector3d &	getVertices () const

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...

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...

	~ConvexMesh () 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...

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	~Body ()=default

Protected Member Functions
unsigned int	countVerticesBehindPlane (const Eigen::Vector4f &planeNormal) const
	(Used mainly for debugging) Count the number of vertices behind a plane More...

bool	isPointInsidePlanes (const Eigen::Vector3d &point) const
	Check if the point is inside all halfspaces this mesh consists of (mesh_data_->planes_). More...

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

Protected Attributes
Box	bounding_box_

Eigen::Vector3d	center_

Eigen::Isometry3d	i_pose_

std::shared_ptr< MeshData >	mesh_data_

double	radiusB_

double	radiusBSqr_

EigenSTL::vector_Vector3d *	scaled_vertices_

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...

Private Attributes
std::unique_ptr< EigenSTL::vector_Vector3d >	scaled_vertices_storage_

Detailed Description

Definition of a convex mesh. Convex hull is computed for a given shape::Mesh.

Definition at line 506 of file bodies.h.

Constructor & Destructor Documentation

◆ ConvexMesh() [1/2]

bodies::ConvexMesh::ConvexMesh ( )

inline

Definition at line 509 of file bodies.h.

◆ ConvexMesh() [2/2]

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

inline

Definition at line 515 of file bodies.h.

◆ ~ConvexMesh()

bodies::ConvexMesh::~ConvexMesh ( )

overridedefault

Member Function Documentation

◆ cloneAt()

std::shared_ptr< bodies::Body > bodies::ConvexMesh::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 1147 of file bodies.cpp.

◆ computeBoundingBox() [1/2]

void bodies::ConvexMesh::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 1176 of file bodies.cpp.

◆ computeBoundingBox() [2/2]

void bodies::ConvexMesh::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 1183 of file bodies.cpp.

◆ computeBoundingCylinder()

void bodies::ConvexMesh::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 1165 of file bodies.cpp.

◆ computeBoundingSphere()

void bodies::ConvexMesh::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 1159 of file bodies.cpp.

◆ computeScaledVerticesFromPlaneProjections()

void bodies::ConvexMesh::computeScaledVerticesFromPlaneProjections ( )

Project the original vertex to the scaled and padded planes and average.

Definition at line 1021 of file bodies.cpp.

◆ computeVolume()

double bodies::ConvexMesh::computeVolume ( ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 1222 of file bodies.cpp.

◆ containsPoint()

bool bodies::ConvexMesh::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 794 of file bodies.cpp.

◆ correctVertexOrderFromPlanes()

void bodies::ConvexMesh::correctVertexOrderFromPlanes ( )

Definition at line 808 of file bodies.cpp.

◆ countVerticesBehindPlane()

unsigned int bodies::ConvexMesh::countVerticesBehindPlane ( const Eigen::Vector4f & planeNormal ) const

protected

(Used mainly for debugging) Count the number of vertices behind a plane

Definition at line 1208 of file bodies.cpp.

◆ getDimensions()

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

overridevirtual

Returns an empty vector.

Implements bodies::Body.

Definition at line 1011 of file bodies.cpp.

◆ getPlanes()

const EigenSTL::vector_Vector4d & bodies::ConvexMesh::getPlanes ( ) const

Get the planes that define the convex shape.

Returns: A list of Vector4d(nx, ny, nz, d).

Definition at line 1141 of file bodies.cpp.

◆ getScaledDimensions()

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

overridevirtual

Returns an empty vector.

Implements bodies::Body.

Definition at line 1016 of file bodies.cpp.

◆ getScaledVertices()

const EigenSTL::vector_Vector3d & bodies::ConvexMesh::getScaledVertices ( ) const

Definition at line 1136 of file bodies.cpp.

◆ getTriangles()

const std::vector< unsigned int > & bodies::ConvexMesh::getTriangles ( ) const

Definition at line 1124 of file bodies.cpp.

◆ getVertices()

const EigenSTL::vector_Vector3d & bodies::ConvexMesh::getVertices ( ) const

Definition at line 1130 of file bodies.cpp.

◆ intersectsRay()

bool bodies::ConvexMesh::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 1237 of file bodies.cpp.

◆ isPointInsidePlanes()

bool bodies::ConvexMesh::isPointInsidePlanes ( const Eigen::Vector3d & point ) const

protected

Check if the point is inside all halfspaces this mesh consists of (mesh_data_->planes_).

Note: The point is expected to have pose_ "cancelled" (have inverse pose of this mesh applied to it).; Scale and padding of the mesh are taken into account.; There is a 1e-9 margin "outside" the planes where points are still considered to be inside.

Definition at line 1188 of file bodies.cpp.

◆ updateInternalData()

void bodies::ConvexMesh::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 1085 of file bodies.cpp.

◆ useDimensions()

void bodies::ConvexMesh::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 831 of file bodies.cpp.

Member Data Documentation

◆ bounding_box_

Box bodies::ConvexMesh::bounding_box_

protected

Definition at line 583 of file bodies.h.

◆ center_

Eigen::Vector3d bodies::ConvexMesh::center_

protected

Definition at line 580 of file bodies.h.

◆ i_pose_

Eigen::Isometry3d bodies::ConvexMesh::i_pose_

protected

Definition at line 579 of file bodies.h.

◆ mesh_data_

std::shared_ptr<MeshData> bodies::ConvexMesh::mesh_data_

protected

Definition at line 573 of file bodies.h.

◆ radiusB_

double bodies::ConvexMesh::radiusB_

protected

Definition at line 581 of file bodies.h.

◆ radiusBSqr_

double bodies::ConvexMesh::radiusBSqr_

protected

Definition at line 582 of file bodies.h.

◆ scaled_vertices_

EigenSTL::vector_Vector3d* bodies::ConvexMesh::scaled_vertices_

protected

Definition at line 589 of file bodies.h.

◆ scaled_vertices_storage_

std::unique_ptr<EigenSTL::vector_Vector3d> bodies::ConvexMesh::scaled_vertices_storage_

private

Definition at line 592 of file bodies.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConvexMesh() [1/2]

◆ ConvexMesh() [2/2]

◆ ~ConvexMesh()

Member Function Documentation

◆ cloneAt()

◆ computeBoundingBox() [1/2]

◆ computeBoundingBox() [2/2]

◆ computeBoundingCylinder()

◆ computeBoundingSphere()

◆ computeScaledVerticesFromPlaneProjections()

◆ computeVolume()

◆ containsPoint()

◆ correctVertexOrderFromPlanes()

◆ countVerticesBehindPlane()

◆ getDimensions()

◆ getPlanes()

◆ getScaledDimensions()

◆ getScaledVertices()

◆ getTriangles()

◆ getVertices()

◆ intersectsRay()

◆ isPointInsidePlanes()

◆ updateInternalData()

◆ useDimensions()

Member Data Documentation

◆ bounding_box_

◆ center_

◆ i_pose_

◆ mesh_data_

◆ radiusB_

◆ radiusBSqr_

◆ scaled_vertices_

◆ scaled_vertices_storage_