bodies.h File Reference

`#include "geometric_shapes/shapes.h"`

`#include <tf/LinearMath/Transform.h>`

`#include <tf/LinearMath/Vector3.h>`

`#include <vector>`

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## Classes | |

class | bodies::Body |

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

class | bodies::BodyVector |

struct | bodies::BoundingCylinder |

Definition of a cylinder. More... | |

struct | bodies::BoundingSphere |

Definition of a sphere that bounds another object. More... | |

class | bodies::Box |

Definition of a box. More... | |

class | bodies::ConvexMesh |

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

class | bodies::Cylinder |

Definition of a cylinder. More... | |

class | bodies::Sphere |

Definition of a sphere. More... | |

## Namespaces | |

namespace | bodies |

## Functions | |

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

Create a body from a given shape. | |

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

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