ApproxMVBB::OOBB Class Reference

#include <OOBB.hpp>

List of all members.

Public Member Functions
Vector3	center ()
void	expand (PREC d)
void	expand (Vector3 d)
void	expandToMinExtentAbsolute (PREC minExtent)
void	expandToMinExtentRelative (PREC p=0.1, PREC defaultExtent=0.1, PREC eps=1e-10)
Array3	extent () const
template<bool coordinateSystemIsI = true>
Vector3List	getCornerPoints () const
Vector3	getDirection (unsigned int i) const
bool	isEmpty () const
PREC	maxExtent () const
PREC	maxExtent (Vector3::Index &i) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ApproxMVBB_DEFINE_MATRIX_TYPES ApproxMVBB_DEFINE_POINTS_CONFIG_TYPES	OOBB ()
	OOBB (const OOBB &)
	OOBB (const Vector3 &l, const Vector3 &u, const Matrix33 &A_IK)
	OOBB (AABB3d &aabb)
OOBB &	operator= (AABB3d &aabb)
template<typename Derived , bool coordinateSystemIsI = true>
bool	overlaps (const MatrixBase< Derived > &p) const
void	reset ()
void	setZAxisLongest ()
void	switchZAxis (unsigned int i)
template<typename Derived >
OOBB &	unite (const MatrixBase< Derived > &p)
PREC	volume () const
Public Attributes
Vector3	m_maxPoint
	in K Frame
Vector3	m_minPoint
	in K Frame
Quaternion	m_q_KI
	Rotation of frame I to frame K, corresponds to a transformation A_IK;.

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Detailed Description

Definition at line 21 of file OOBB.hpp.

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Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ApproxMVBB_DEFINE_MATRIX_TYPES ApproxMVBB_DEFINE_POINTS_CONFIG_TYPES ApproxMVBB::OOBB::OOBB

(

)

[inline]

Definition at line 29 of file OOBB.hpp.

ApproxMVBB::OOBB::OOBB

(

const OOBB &

)

ApproxMVBB::OOBB::OOBB	(	const Vector3 &	l,
		const Vector3 &	u,
		const Matrix33 &	A_IK
	)

Definition at line 13 of file OOBB.cpp.

ApproxMVBB::OOBB::OOBB

(

AABB3d &

aabb

)

[inline]

Initializes OOBB with AABB3d values, rotation is set to identity!

Definition at line 40 of file OOBB.hpp.

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Member Function Documentation

Vector3 ApproxMVBB::OOBB::center

(

)

[inline]

Definition at line 79 of file OOBB.hpp.

void ApproxMVBB::OOBB::expand

(

PREC

d

)

[inline]

Definition at line 121 of file OOBB.hpp.

void ApproxMVBB::OOBB::expand

(

Vector3

d

)

[inline]

Definition at line 127 of file OOBB.hpp.

void ApproxMVBB::OOBB::expandToMinExtentAbsolute

(

PREC

minExtent

)

Adjust box that all axes have at least a minimal extent minExtent

Definition at line 75 of file OOBB.cpp.

void ApproxMVBB::OOBB::expandToMinExtentRelative	(	PREC	p = 0.1,
		PREC	defaultExtent = 0.1,
		PREC	eps = 1e-10
	)

Adjust box that all axes have at least a minimal extent of maxExtent*p, if maxExtent*p < eps then all axes to default extent

Definition at line 53 of file OOBB.cpp.

Array3 ApproxMVBB::OOBB::extent

(

)

const [inline]

Definition at line 81 of file OOBB.hpp.

template<bool coordinateSystemIsI = true>

Vector3List ApproxMVBB::OOBB::getCornerPoints

(

)

const [inline]

Get all corner points in I Frame

Returns:

A list of all corner points sorted according to (x,y,z) index in K frame

Parameters:

coordinateSystemIsI

determines if the the output points are represented in the coordinate system I or if false they are represented in the coordinate system of the OOBB, that is, system K (move semantics make this fast)

Definition at line 153 of file OOBB.hpp.

Vector3 ApproxMVBB::OOBB::getDirection

(

unsigned int

i

)

const [inline]

Get direction vectors in I Frame

Definition at line 139 of file OOBB.hpp.

bool ApproxMVBB::OOBB::isEmpty

(

)

const [inline]

Definition at line 93 of file OOBB.hpp.

PREC ApproxMVBB::OOBB::maxExtent

(

)

const [inline]

Definition at line 85 of file OOBB.hpp.

PREC ApproxMVBB::OOBB::maxExtent

(

Vector3::Index &

i

)

const [inline]

Definition at line 89 of file OOBB.hpp.

OOBB& ApproxMVBB::OOBB::operator=

(

AABB3d &

aabb

)

[inline]

Initializes OOBB with AABB3d values, rotation is set to identity!

Definition at line 47 of file OOBB.hpp.

template<typename Derived , bool coordinateSystemIsI = true>

bool ApproxMVBB::OOBB::overlaps

(

const MatrixBase< Derived > &

p

)

const [inline]

Checks if a point overlaps the OOBB

Parameters:

p	input point which is regar
coordinateSystemIsI	determines if the the input point p is in the coordinate system I or if false it is regarded to be in the coordinate system of the OOBB, that is, system K

Definition at line 104 of file OOBB.hpp.

void ApproxMVBB::OOBB::reset

(

)

Definition at line 89 of file OOBB.cpp.

void ApproxMVBB::OOBB::setZAxisLongest

(

)

[inline]

Definition at line 54 of file OOBB.hpp.

void ApproxMVBB::OOBB::switchZAxis

(

unsigned int

i

)

Switch the z-Axis to the axis with index i (default x-Axis)

Definition at line 23 of file OOBB.cpp.

template<typename Derived >

OOBB& ApproxMVBB::OOBB::unite

(

const MatrixBase< Derived > &

p

)

[inline]

Add point expressed in OOBB's K frame to the OOBB

Definition at line 69 of file OOBB.hpp.

PREC ApproxMVBB::OOBB::volume

(

)

const [inline]

Definition at line 133 of file OOBB.hpp.

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Member Data Documentation

Vector3 ApproxMVBB::OOBB::m_maxPoint

in K Frame

Definition at line 177 of file OOBB.hpp.

Vector3 ApproxMVBB::OOBB::m_minPoint

in K Frame

Definition at line 176 of file OOBB.hpp.

Quaternion ApproxMVBB::OOBB::m_q_KI

Rotation of frame I to frame K, corresponds to a transformation A_IK;.

Definition at line 175 of file OOBB.hpp.

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

• OOBB.hpp
• OOBB.cpp