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
Body *	createBodyFromShape (const shapes::Shape *shape)
	Create a body from a given shape.
static double	distanceSQR (const tf::Vector3 &p, const tf::Vector3 &origin, const tf::Vector3 &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< tf::Transform > &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

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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

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Function Documentation

bodies::Body * bodies::createBodyFromShape

(

const shapes::Shape *

shape

)

Create a body from a given shape.

Author:

Ioan Sucan

Definition at line 68 of file bodies.cpp.

static double bodies::distanceSQR	(	const tf::Vector3 &	p,
		const tf::Vector3 &	origin,
		const tf::Vector3 &	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 132 of file bodies.cpp.

void bodies::maskPosesInsideBodyVectors	(	const std::vector< tf::Transform > &	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 95 of file bodies.cpp.

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Variable Documentation

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

Definition at line 128 of file bodies.cpp.