bodies Namespace Reference

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). More...

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
	A vector of Body objects. More...
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...
Typedefs
typedef boost::shared_ptr < const Body >	BodyConstPtr
	Shared pointer to a const Body.
typedef boost::shared_ptr< Body >	BodyPtr
	Shared pointer to a Body.
Functions
void	computeBoundingSphere (const std::vector< const Body * > &bodies, BoundingSphere &mergedSphere)
	Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere.
Body *	constructBodyFromMsg (const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose)
	Create a body from a given shape.
Body *	constructBodyFromMsg (const shape_msgs::SolidPrimitive &shape, const geometry_msgs::Pose &pose)
	Create a body from a given shape.
Body *	constructBodyFromMsg (const shapes::ShapeMsg &shape, const geometry_msgs::Pose &pose)
	Create a body from a given shape.
template<typename T >
Body *	constructBodyFromMsgHelper (const T &shape_msg, const geometry_msgs::Pose &pose)
Body *	createBodyFromShape (const shapes::Shape *shape)
	Create a body from a given shape.
void	mergeBoundingSpheres (const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere)
	Compute a bounding sphere to enclose a set of bounding spheres.

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Detailed Description

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).

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Typedef Documentation

typedef boost::shared_ptr< const Body > bodies::BodyConstPtr

Shared pointer to a const Body.

Definition at line 80 of file bodies.h.

typedef boost::shared_ptr< Body > bodies::BodyPtr

Shared pointer to a Body.

Definition at line 74 of file bodies.h.

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Function Documentation

void bodies::computeBoundingSphere	(	const std::vector< const Body * > &	bodies,
		BoundingSphere &	mergedSphere
	)

Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere.

bodies::Body * bodies::constructBodyFromMsg	(	const shape_msgs::Mesh &	shape,
		const geometry_msgs::Pose &	pose
	)

Create a body from a given shape.

Definition at line 132 of file body_operations.cpp.

bodies::Body * bodies::constructBodyFromMsg	(	const shape_msgs::SolidPrimitive &	shape,
		const geometry_msgs::Pose &	pose
	)

Create a body from a given shape.

Definition at line 137 of file body_operations.cpp.

bodies::Body * bodies::constructBodyFromMsg	(	const shapes::ShapeMsg &	shape,
		const geometry_msgs::Pose &	pose
	)

Create a body from a given shape.

Definition at line 127 of file body_operations.cpp.

template<typename T >

Body* bodies::constructBodyFromMsgHelper	(	const T &	shape_msg,
		const geometry_msgs::Pose &	pose
	)

Definition at line 103 of file body_operations.cpp.

bodies::Body * bodies::createBodyFromShape

(

const shapes::Shape *

shape

)

Create a body from a given shape.

Author:

Ioan Sucan, E. Gil Jones

Definition at line 42 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 69 of file body_operations.cpp.