jsk_recognition_utils::Cube Class Reference

#include <cube.h>

List of all members.

Public Types
typedef boost::shared_ptr< Cube >	Ptr
Public Member Functions
	Cube (const Eigen::Vector3f &pos, const Eigen::Quaternionf &rot)
	Cube (const Eigen::Vector3f &pos, const Eigen::Quaternionf &rot, const std::vector< double > &dimensions)
	Cube (const Eigen::Vector3f &pos, const Eigen::Quaternionf &rot, const Eigen::Vector3f &dimensions)
	Cube (const Eigen::Vector3f &pos, const Line &line_a, const Line &line_b, const Line &line_c)
	Cube (const jsk_recognition_msgs::BoundingBox &box)
std::vector< Segment::Ptr >	edges ()
std::vector< Polygon::Ptr >	faces ()
	returns all the 6 faces as Polygon::Ptr. TODO: is it should be ConvexPolygon?
std::vector< double >	getDimensions () const
ConvexPolygon::Ptr	intersectConvexPolygon (Plane &plane)
virtual Eigen::Vector3f	nearestPoint (const Eigen::Vector3f &p, double &distance)
	compute minimum distance from point p to cube surface.
void	setDimensions (const std::vector< double > &new_dimensions)
jsk_recognition_msgs::BoundingBox	toROSMsg ()
Vertices	transformVertices (const Eigen::Affine3f &pose_offset)
	returns vertices transformed by pose_offset.
Vertices	vertices ()
	returns vertices as an array of Eigen::Vectro3f. The order of the vertices is: [1, 1, 1], [-1, 1, 1], [-1, -1, 1], [1, -1, 1], [1, 1, -1], [-1, 1, -1], [-1, -1, -1], [1, -1, -1].
virtual	~Cube ()
Protected Member Functions
virtual Polygon::Ptr	buildFace (const Eigen::Vector3f v0, const Eigen::Vector3f v1, const Eigen::Vector3f v2, const Eigen::Vector3f v3)
	A helper method to build polygon from 4 vertices.
virtual Eigen::Vector3f	buildVertex (double i, double j, double k)
	A helper method to build vertex from x-y-z relatiev coordinates.
Protected Attributes
std::vector< double >	dimensions_
Eigen::Vector3f	pos_
Eigen::Quaternionf	rot_

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Detailed Description

Definition at line 45 of file cube.h.

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Member Typedef Documentation

typedef boost::shared_ptr<Cube> jsk_recognition_utils::Cube::Ptr

Definition at line 48 of file cube.h.

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Constructor & Destructor Documentation

jsk_recognition_utils::Cube::Cube	(	const Eigen::Vector3f &	pos,
		const Eigen::Quaternionf &	rot
	)

Definition at line 42 of file cube.cpp.

jsk_recognition_utils::Cube::Cube	(	const Eigen::Vector3f &	pos,
		const Eigen::Quaternionf &	rot,
		const std::vector< double > &	dimensions
	)

Definition at line 48 of file cube.cpp.

jsk_recognition_utils::Cube::Cube	(	const Eigen::Vector3f &	pos,
		const Eigen::Quaternionf &	rot,
		const Eigen::Vector3f &	dimensions
	)

Definition at line 54 of file cube.cpp.

jsk_recognition_utils::Cube::Cube	(	const Eigen::Vector3f &	pos,
		const Line &	line_a,
		const Line &	line_b,
		const Line &	line_c
	)

Definition at line 64 of file cube.cpp.

jsk_recognition_utils::Cube::Cube

(

const jsk_recognition_msgs::BoundingBox &

box

)

Definition at line 106 of file cube.cpp.

jsk_recognition_utils::Cube::~Cube

(

)

[virtual]

Definition at line 118 of file cube.cpp.

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Member Function Documentation

Polygon::Ptr jsk_recognition_utils::Cube::buildFace	(	const Eigen::Vector3f	v0,
		const Eigen::Vector3f	v1,
		const Eigen::Vector3f	v2,
		const Eigen::Vector3f	v3
	)		[protected, virtual]

A helper method to build polygon from 4 vertices.

Definition at line 243 of file cube.cpp.

Eigen::Vector3f jsk_recognition_utils::Cube::buildVertex	(	double	i,
		double	j,
		double	k
	)		[protected, virtual]

A helper method to build vertex from x-y-z relatiev coordinates.

Definition at line 284 of file cube.cpp.

std::vector< Segment::Ptr > jsk_recognition_utils::Cube::edges

(

)

Definition at line 123 of file cube.cpp.

std::vector< Polygon::Ptr > jsk_recognition_utils::Cube::faces

(

)

returns all the 6 faces as Polygon::Ptr. TODO: is it should be ConvexPolygon?

Definition at line 256 of file cube.cpp.

std::vector<double> jsk_recognition_utils::Cube::getDimensions

(

)

const [inline]

Definition at line 60 of file cube.h.

ConvexPolygon::Ptr jsk_recognition_utils::Cube::intersectConvexPolygon

(

Plane &

plane

)

Definition at line 174 of file cube.cpp.

Eigen::Vector3f jsk_recognition_utils::Cube::nearestPoint	(	const Eigen::Vector3f &	p,
		double &	distance
	)		[virtual]

compute minimum distance from point p to cube surface.

Distance computation depends on Polygon::nearestPoint and this methods just searches a face which resutnrs the smallest distance.

Definition at line 292 of file cube.cpp.

void jsk_recognition_utils::Cube::setDimensions

(

const std::vector< double > &

new_dimensions

)

[inline]

Definition at line 61 of file cube.h.

jsk_recognition_msgs::BoundingBox jsk_recognition_utils::Cube::toROSMsg

(

)

Definition at line 203 of file cube.cpp.

Vertices jsk_recognition_utils::Cube::transformVertices

(

const Eigen::Affine3f &

pose_offset

)

returns vertices transformed by pose_offset.

Definition at line 233 of file cube.cpp.

Vertices jsk_recognition_utils::Cube::vertices

(

)

returns vertices as an array of Eigen::Vectro3f. The order of the vertices is: [1, 1, 1], [-1, 1, 1], [-1, -1, 1], [1, -1, 1], [1, 1, -1], [-1, 1, -1], [-1, -1, -1], [1, -1, -1].

Definition at line 219 of file cube.cpp.

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Member Data Documentation

std::vector<double> jsk_recognition_utils::Cube::dimensions_ [protected]

Definition at line 103 of file cube.h.

Eigen::Vector3f jsk_recognition_utils::Cube::pos_ [protected]

Definition at line 101 of file cube.h.

Eigen::Quaternionf jsk_recognition_utils::Cube::rot_ [protected]

Definition at line 102 of file cube.h.

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

• cube.h
• cube.cpp