bodies::Body Class Reference

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:
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List of all members.

## Public Member Functions

Body (void)
virtual void computeBoundingCylinder (BoundingCylinder &cylinder) const =0
Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.
virtual void computeBoundingSphere (BoundingSphere &sphere) const =0
Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.
virtual double computeVolume (void) const =0
Compute the volume of the body. This method includes changes induced by scaling and padding.
bool containsPoint (double x, double y, double z) const
Check is a point is inside the body.
virtual bool containsPoint (const tf::Vector3 &p, bool verbose=false) const =0
Check is a point is inside the body.
const tf::TransformgetPose (void) const
Retrieve the pose of the body.
double getScale (void) const
Retrieve the current scale.
shapes::ShapeType getType (void) const
Get the type of shape this body represents.
virtual bool intersectsRay (const tf::Vector3 &origin, const tf::Vector3 &dir, std::vector< tf::Vector3 > *intersections=NULL, unsigned int count=0) const =0
Check is 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.
void setDimensions (const shapes::Shape *shape)
Set the dimensions of the body (from corresponding shape)
If constant padding should be added to the body, this method sets the padding. Default is 0.0.
void setPose (const tf::Transform &pose)
Set the pose of the body. Default is identity.
void setScale (double scale)
If the dimension of the body should be scaled, this method sets the scale. Default is 1.0.
virtual ~Body (void)

## Protected Member Functions

virtual void updateInternalData (void)=0
virtual void useDimensions (const shapes::Shape *shape)=0

## Protected Attributes

tf::Transform m_pose
double m_scale
shapes::ShapeType m_type

## 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 75 of file bodies.h.

## Constructor & Destructor Documentation

 bodies::Body::Body ( void ) ` [inline]`

Definition at line 79 of file bodies.h.

 virtual bodies::Body::~Body ( void ) ` [inline, virtual]`

Definition at line 87 of file bodies.h.

## Member Function Documentation

 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.

 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.

 virtual double bodies::Body::computeVolume ( void ) 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.

 bool bodies::Body::containsPoint ( double x, double y, double z ) const` [inline]`

Check is a point is inside the body.

Definition at line 146 of file bodies.h.

 virtual bool bodies::Body::containsPoint ( const tf::Vector3 & p, bool verbose = `false` ) const` [pure virtual]`

Check is a point is inside the body.

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

 double bodies::Body::getPadding ( void ) const` [inline]`

Definition at line 120 of file bodies.h.

 const tf::Transform& bodies::Body::getPose ( void ) const` [inline]`

Retrieve the pose of the body.

Definition at line 133 of file bodies.h.

 double bodies::Body::getScale ( void ) const` [inline]`

Retrieve the current scale.

Definition at line 106 of file bodies.h.

 shapes::ShapeType bodies::Body::getType ( void ) const` [inline]`

Get the type of shape this body represents.

Definition at line 92 of file bodies.h.

 virtual bool bodies::Body::intersectsRay ( const tf::Vector3 & origin, const tf::Vector3 & dir, std::vector< tf::Vector3 > * intersections = `NULL`, unsigned int count = `0` ) const` [pure virtual]`

Check is 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.

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

 void bodies::Body::setDimensions ( const shapes::Shape * shape ) ` [inline]`

Set the dimensions of the body (from corresponding shape)

Definition at line 139 of file bodies.h.

 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 113 of file bodies.h.

 void bodies::Body::setPose ( const tf::Transform & pose ) ` [inline]`

Set the pose of the body. Default is identity.

Definition at line 126 of file bodies.h.

 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 99 of file bodies.h.

 virtual void bodies::Body::updateInternalData ( void ) ` [protected, pure virtual]`
 virtual void bodies::Body::useDimensions ( const shapes::Shape * shape ) ` [protected, pure virtual]`

## Member Data Documentation

 double bodies::Body::m_padding` [protected]`

Definition at line 180 of file bodies.h.

 tf::Transform bodies::Body::m_pose` [protected]`

Definition at line 178 of file bodies.h.

 double bodies::Body::m_scale` [protected]`

Definition at line 179 of file bodies.h.

 shapes::ShapeType bodies::Body::m_type` [protected]`

Definition at line 177 of file bodies.h.

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

geometric_shapes
Author(s): Ioan Sucan
autogenerated on Thu Dec 12 2013 11:08:55