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Protected Member Functions |
Protected Attributes |
Private Attributes

bodies::ConvexMesh Class Reference

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

`#include <bodies.h>`

Inheritance diagram for bodies::ConvexMesh:

## Classes | |

struct | MeshData |

## Public Member Functions | |

virtual BodyPtr | cloneAt (const Eigen::Affine3d &pose, double padding, double scale) const |

Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around. | |

virtual void | computeBoundingCylinder (BoundingCylinder &cylinder) const |

Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for. | |

virtual void | computeBoundingSphere (BoundingSphere &sphere) const |

Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for. | |

void | computeScaledVerticesFromPlaneProjections () |

Project the original vertex to the scaled and padded planes and average. | |

virtual double | computeVolume () const |

Compute the volume of the body. This method includes changes induced by scaling and padding. | |

virtual bool | containsPoint (const Eigen::Vector3d &p, bool verbose=false) const |

Check if a point is inside the body. | |

ConvexMesh () | |

ConvexMesh (const shapes::Shape *shape) | |

void | correctVertexOrderFromPlanes () |

virtual std::vector< double > | getDimensions () const |

Returns an empty vector. | |

const EigenSTL::vector_Vector3d & | getScaledVertices () const |

const std::vector< unsigned int > & | getTriangles () const |

const EigenSTL::vector_Vector3d & | getVertices () const |

virtual bool | intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=NULL, unsigned int count=0) const |

Check if 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. | |

virtual | ~ConvexMesh () |

## Protected Member Functions | |

unsigned int | countVerticesBehindPlane (const Eigen::Vector4f &planeNormal) const |

(Used mainly for debugging) Count the number of vertices behind a plane | |

bool | isPointInsidePlanes (const Eigen::Vector3d &point) const |

Check if a point is inside a set of planes that make up a convex mesh. | |

virtual void | updateInternalData () |

This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date. | |

virtual void | useDimensions (const shapes::Shape *shape) |

Depending on the shape, this function copies the relevant data to the body. | |

## Protected Attributes | |

Box | bounding_box_ |

Eigen::Vector3d | center_ |

Eigen::Affine3d | i_pose_ |

boost::shared_ptr< MeshData > | mesh_data_ |

double | radiusB_ |

double | radiusBSqr_ |

EigenSTL::vector_Vector3d * | scaled_vertices_ |

## Private Attributes | |

boost::scoped_ptr < EigenSTL::vector_Vector3d > | scaled_vertices_storage_ |

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

bodies::ConvexMesh::ConvexMesh | ( | ) | ` [inline]` |

bodies::ConvexMesh::ConvexMesh | ( | const shapes::Shape * | shape | ) | ` [inline]` |

virtual bodies::ConvexMesh::~ConvexMesh | ( | ) | ` [inline, virtual]` |

boost::shared_ptr< bodies::Body > bodies::ConvexMesh::cloneAt | ( | const Eigen::Affine3d & | pose, |

double | padding, |
||

double | scaling |
||

) | const` [virtual]` |

Get a clone of this body, but one that is located at the pose *pose* and has possibly different passing and scaling: *padding* and *scaling*. This function is useful to implement thread safety, when bodies need to be moved around.

Implements bodies::Body.

Definition at line 970 of file bodies.cpp.

void bodies::ConvexMesh::computeBoundingCylinder | ( | BoundingCylinder & | cylinder | ) | const` [virtual]` |

Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.

Implements bodies::Body.

Definition at line 987 of file bodies.cpp.

void bodies::ConvexMesh::computeBoundingSphere | ( | BoundingSphere & | sphere | ) | const` [virtual]` |

Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.

Implements bodies::Body.

Definition at line 981 of file bodies.cpp.

Project the original vertex to the scaled and padded planes and average.

Definition at line 860 of file bodies.cpp.

double bodies::ConvexMesh::computeVolume | ( | ) | const` [virtual]` |

Compute the volume of the body. This method includes changes induced by scaling and padding.

Implements bodies::Body.

Definition at line 1025 of file bodies.cpp.

bool bodies::ConvexMesh::containsPoint | ( | const Eigen::Vector3d & | p, |

bool | verbose = `false` |
||

) | const` [virtual]` |

Check if a point is inside the body.

Implements bodies::Body.

Definition at line 657 of file bodies.cpp.

Definition at line 670 of file bodies.cpp.

unsigned int bodies::ConvexMesh::countVerticesBehindPlane | ( | const Eigen::Vector4f & | planeNormal | ) | const` [protected]` |

(Used mainly for debugging) Count the number of vertices behind a plane

Definition at line 1011 of file bodies.cpp.

std::vector< double > bodies::ConvexMesh::getDimensions | ( | ) | const` [virtual]` |

const EigenSTL::vector_Vector3d & bodies::ConvexMesh::getScaledVertices | ( | ) | const |

Definition at line 965 of file bodies.cpp.

const std::vector< unsigned int > & bodies::ConvexMesh::getTriangles | ( | ) | const |

Definition at line 953 of file bodies.cpp.

const EigenSTL::vector_Vector3d & bodies::ConvexMesh::getVertices | ( | ) | const |

Definition at line 959 of file bodies.cpp.

bool bodies::ConvexMesh::intersectsRay | ( | const Eigen::Vector3d & | origin, |

const Eigen::Vector3d & | dir, |
||

EigenSTL::vector_Vector3d * | intersections = `NULL` , |
||

unsigned int | count = `0` |
||

) | const` [virtual]` |

Check if 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.

Implements bodies::Body.

Definition at line 1039 of file bodies.cpp.

bool bodies::ConvexMesh::isPointInsidePlanes | ( | const Eigen::Vector3d & | point | ) | const` [protected]` |

Check if a point is inside a set of planes that make up a convex mesh.

Definition at line 997 of file bodies.cpp.

void bodies::ConvexMesh::updateInternalData | ( | ) | ` [protected, virtual]` |

This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date.

Implements bodies::Body.

Definition at line 918 of file bodies.cpp.

void bodies::ConvexMesh::useDimensions | ( | const shapes::Shape * | shape | ) | ` [protected, virtual]` |

Depending on the shape, this function copies the relevant data to the body.

Implements bodies::Body.

Definition at line 692 of file bodies.cpp.

Box bodies::ConvexMesh::bounding_box_` [protected]` |

Eigen::Vector3d bodies::ConvexMesh::center_` [protected]` |

Eigen::Affine3d bodies::ConvexMesh::i_pose_` [protected]` |

boost::shared_ptr<MeshData> bodies::ConvexMesh::mesh_data_` [protected]` |

double bodies::ConvexMesh::radiusB_` [protected]` |

double bodies::ConvexMesh::radiusBSqr_` [protected]` |

boost::scoped_ptr<EigenSTL::vector_Vector3d> bodies::ConvexMesh::scaled_vertices_storage_` [private]` |

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