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 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

## Function Documentation

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

Create a body from a given shape.

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

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.

## Variable Documentation

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

Definition at line 128 of file bodies.cpp.

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