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... | |

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 | 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 |

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

Create a body from a given shape.

Definition at line 44 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 108 of file bodies.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 71 of file bodies.cpp.

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

Definition at line 104 of file bodies.cpp.

pr2_navigation_self_filter

Author(s): Eitan Marder-Eppstein

autogenerated on Mon Dec 2 2013 13:15:43

Author(s): Eitan Marder-Eppstein

autogenerated on Mon Dec 2 2013 13:15:43