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bodies Namespace Reference

Namespaces

namespace  detail

Classes

class  Body
 A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed. More...
class  BodyVector
struct  BoundingCylinder
 Definition of a cylinder. More...
struct  BoundingSphere
 Definition of a sphere that bounds another object. More...
class  Box
 Definition of a box. More...
class  ConvexMesh
 Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More...
class  Cylinder
 Definition of a cylinder. More...
class  Sphere
 Definition of a sphere. More...

Functions

BodycreateBodyFromShape (const shapes::Shape *shape)
 Create a body from a given shape.
static double distanceSQR (const btVector3 &p, const btVector3 &origin, const btVector3 &dir)
 Compute the square of the distance between a ray and a point Note: this requires 'dir' to be normalized.
void maskPosesInsideBodyVectors (const std::vector< btTransform > &poses, const std::vector< bodies::BodyVector * > &bvs, std::vector< bool > &mask, bool use_padded)
void mergeBoundingSpheres (const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere)
 Compute a bounding sphere to enclose a set of bounding spheres.

Variables

static const double ZERO = 1e-9

Detailed Description

Author:
Ioan Sucan, E. Gil Jones This set of classes allows quickly detecting whether a given point is inside an object or not. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example).
Ioan Sucan, E. Gil Jones

Function Documentation

bodies::Body * bodies::createBodyFromShape ( const shapes::Shape shape  ) 

Create a body from a given shape.

Author:
Ioan Sucan

Definition at line 46 of file bodies.cpp.

static double bodies::distanceSQR ( const btVector3 &  p,
const btVector3 &  origin,
const btVector3 &  dir 
) [inline, static]

Compute the square of the distance between a ray and a point Note: this requires 'dir' to be normalized.

Definition at line 110 of file bodies.cpp.

void bodies::maskPosesInsideBodyVectors ( const std::vector< btTransform > &  poses,
const std::vector< bodies::BodyVector * > &  bvs,
std::vector< bool > &  mask,
bool  use_padded 
)

This function sets the mask for the transforms to false if they are inside any body in any body vector, and otherwise sets them to true

Author:
Ioan Sucan, E. Gil Jones

Definition at line 39 of file body_operations.cpp.

void bodies::mergeBoundingSpheres ( const std::vector< BoundingSphere > &  spheres,
BoundingSphere &  mergedSphere 
)

Compute a bounding sphere to enclose a set of bounding spheres.

Definition at line 73 of file bodies.cpp.


Variable Documentation

const double bodies::ZERO = 1e-9 [static]

Definition at line 106 of file bodies.cpp.

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geometric_shapes
Author(s): Ioan Sucan
autogenerated on Fri Mar 1 14:16:11 2013