Public Member Functions | Protected Member Functions | Protected 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:
Inheritance graph
[legend]

List of all members.

Public Member Functions

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 (void) const
 Compute the volume of the body. This method includes changes induced by scaling and padding.
virtual bool containsPoint (const tf::Vector3 &p, bool verbose=false) const
 Check is a point is inside the body.
 ConvexMesh (void)
 ConvexMesh (const shapes::Shape *shape)
virtual bool intersectsRay (const tf::Vector3 &origin, const tf::Vector3 &dir, std::vector< tf::Vector3 > *intersections=NULL, unsigned int count=0) const
 Check is 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 (void)

Protected Member Functions

unsigned int countVerticesBehindPlane (const tf::tfVector4 &planeNormal) const
bool isPointInsidePlanes (const tf::Vector3 &point) const
virtual void updateInternalData (void)
virtual void useDimensions (const shapes::Shape *shape)

Protected Attributes

Box m_boundingBox
tf::Vector3 m_boxOffset
tf::Vector3 m_center
tf::Transform m_iPose
tf::Vector3 m_meshCenter
double m_meshRadiusB
std::vector< tf::tfVector4m_planes
double m_radiusB
double m_radiusBSqr
std::vector< tf::Vector3m_scaledVertices
std::vector< unsigned int > m_triangles
std::vector< tf::Vector3m_vertices

Detailed Description

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

Definition at line 354 of file bodies.h.


Constructor & Destructor Documentation

bodies::ConvexMesh::ConvexMesh ( void  ) [inline]

Definition at line 358 of file bodies.h.

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

Definition at line 363 of file bodies.h.

virtual bodies::ConvexMesh::~ConvexMesh ( void  ) [inline, virtual]

Definition at line 369 of file bodies.h.


Member Function Documentation

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 863 of file bodies.cpp.

double bodies::ConvexMesh::computeVolume ( void  ) const [virtual]

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

Implements bodies::Body.

Definition at line 895 of file bodies.cpp.

bool bodies::ConvexMesh::containsPoint ( const tf::Vector3 p,
bool  verbose = false 
) const [virtual]

Check is a point is inside the body.

Implements bodies::Body.

Definition at line 706 of file bodies.cpp.

unsigned int bodies::ConvexMesh::countVerticesBehindPlane ( const tf::tfVector4 planeNormal) const [protected]

Definition at line 882 of file bodies.cpp.

bool bodies::ConvexMesh::intersectsRay ( const tf::Vector3 origin,
const tf::Vector3 dir,
std::vector< tf::Vector3 > *  intersections = NULL,
unsigned int  count = 0 
) const [virtual]

Check is 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 908 of file bodies.cpp.

bool bodies::ConvexMesh::isPointInsidePlanes ( const tf::Vector3 point) const [protected]

Definition at line 869 of file bodies.cpp.

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

Implements bodies::Body.

Definition at line 841 of file bodies.cpp.

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

Implements bodies::Body.

Definition at line 718 of file bodies.cpp.


Member Data Documentation

Definition at line 400 of file bodies.h.

Definition at line 399 of file bodies.h.

Definition at line 393 of file bodies.h.

Definition at line 391 of file bodies.h.

Definition at line 394 of file bodies.h.

Definition at line 397 of file bodies.h.

std::vector<tf::tfVector4> bodies::ConvexMesh::m_planes [protected]

Definition at line 387 of file bodies.h.

double bodies::ConvexMesh::m_radiusB [protected]

Definition at line 395 of file bodies.h.

Definition at line 396 of file bodies.h.

Definition at line 389 of file bodies.h.

std::vector<unsigned int> bodies::ConvexMesh::m_triangles [protected]

Definition at line 390 of file bodies.h.

std::vector<tf::Vector3> bodies::ConvexMesh::m_vertices [protected]

Definition at line 388 of file bodies.h.


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


pr2_navigation_self_filter
Author(s): Eitan Marder-Eppstein
autogenerated on Fri Apr 5 2019 02:18:37