Definition of a box. More...
#include <bodies.h>
Public Member Functions | |
| Box () | |
| Box (const shapes::Shape *shape) | |
| 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. | |
| 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. | |
| virtual std::vector< double > | getDimensions () const |
| Get the length & width & height (x, y, z) of the box. | |
| 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 bool | samplePointInside (random_numbers::RandomNumberGenerator &rng, unsigned int max_attempts, Eigen::Vector3d &result) |
| Sample a point that is included in the body using a given random number generator. Sometimes multiple attempts need to be generated; the function terminates with failure (returns false) after max_attempts attempts. If the call is successful (returns true) the point is written to result. | |
| virtual | ~Box () |
Protected Member Functions | |
| 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 | |
| Eigen::Vector3d | center_ |
| Eigen::Vector3d | corner1_ |
| Eigen::Vector3d | corner2_ |
| double | height2_ |
| double | height_ |
| double | length2_ |
| double | length_ |
| Eigen::Vector3d | normalH_ |
| Eigen::Vector3d | normalL_ |
| Eigen::Vector3d | normalW_ |
| double | radius2_ |
| double | radiusB_ |
| double | width2_ |
| double | width_ |
Detailed Description
Constructor & Destructor Documentation
| bodies::Box::Box | ( | ) | [inline] |
| bodies::Box::Box | ( | const shapes::Shape * | shape | ) | [inline] |
| virtual bodies::Box::~Box | ( | ) | [inline, virtual] |
Member Function Documentation
| boost::shared_ptr< bodies::Body > bodies::Box::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 524 of file bodies.cpp.
| void bodies::Box::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 548 of file bodies.cpp.
| void bodies::Box::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 542 of file bodies.cpp.
| double bodies::Box::computeVolume | ( | ) | const [virtual] |
Compute the volume of the body. This method includes changes induced by scaling and padding.
Implements bodies::Body.
Definition at line 537 of file bodies.cpp.
| bool bodies::Box::containsPoint | ( | const Eigen::Vector3d & | p, |
| bool | verbose = false |
||
| ) | const [virtual] |
Check if a point is inside the body.
Implements bodies::Body.
Definition at line 467 of file bodies.cpp.
| std::vector< double > bodies::Box::getDimensions | ( | ) | const [virtual] |
Get the length & width & height (x, y, z) of the box.
Implements bodies::Body.
Definition at line 493 of file bodies.cpp.
| bool bodies::Box::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 580 of file bodies.cpp.
| bool bodies::Box::samplePointInside | ( | random_numbers::RandomNumberGenerator & | rng, |
| unsigned int | max_attempts, | ||
| Eigen::Vector3d & | result | ||
| ) | [virtual] |
Sample a point that is included in the body using a given random number generator. Sometimes multiple attempts need to be generated; the function terminates with failure (returns false) after max_attempts attempts. If the call is successful (returns true) the point is written to result.
Reimplemented from bodies::Body.
Definition at line 459 of file bodies.cpp.
| void bodies::Box::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 502 of file bodies.cpp.
| void bodies::Box::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 485 of file bodies.cpp.
Member Data Documentation
Eigen::Vector3d bodies::Box::center_ [protected] |
Eigen::Vector3d bodies::Box::corner1_ [protected] |
Eigen::Vector3d bodies::Box::corner2_ [protected] |
double bodies::Box::height2_ [protected] |
double bodies::Box::height_ [protected] |
double bodies::Box::length2_ [protected] |
double bodies::Box::length_ [protected] |
Eigen::Vector3d bodies::Box::normalH_ [protected] |
Eigen::Vector3d bodies::Box::normalL_ [protected] |
Eigen::Vector3d bodies::Box::normalW_ [protected] |
double bodies::Box::radius2_ [protected] |
double bodies::Box::radiusB_ [protected] |
double bodies::Box::width2_ [protected] |
double bodies::Box::width_ [protected] |
The documentation for this class was generated from the following files: