Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More...
#include <bodies.h>
Classes | |
| struct | MeshData |
Public Member Functions | |
| 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. | |
| void | computeScaledVerticesFromPlaneProjections () |
| Project the original vertex to the scaled and padded planes and average. | |
| 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. | |
| ConvexMesh () | |
| ConvexMesh (const shapes::Shape *shape) | |
| void | correctVertexOrderFromPlanes () |
| virtual std::vector< double > | getDimensions () const |
| Returns an empty vector. | |
| const EigenSTL::vector_Vector3d & | getScaledVertices () const |
| const std::vector< unsigned int > & | getTriangles () const |
| const EigenSTL::vector_Vector3d & | getVertices () const |
| 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 | ~ConvexMesh () |
Protected Member Functions | |
| unsigned int | countVerticesBehindPlane (const Eigen::Vector4f &planeNormal) const |
| (Used mainly for debugging) Count the number of vertices behind a plane | |
| bool | isPointInsidePlanes (const Eigen::Vector3d &point) const |
| Check if a point is inside a set of planes that make up a convex mesh. | |
| 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 | |
| Box | bounding_box_ |
| Eigen::Vector3d | center_ |
| Eigen::Affine3d | i_pose_ |
| boost::shared_ptr< MeshData > | mesh_data_ |
| double | radiusB_ |
| double | radiusBSqr_ |
| EigenSTL::vector_Vector3d * | scaled_vertices_ |
Private Attributes | |
| boost::scoped_ptr < EigenSTL::vector_Vector3d > | scaled_vertices_storage_ |
Detailed Description
Definition of a convex mesh. Convex hull is computed for a given shape::Mesh.
Constructor & Destructor Documentation
| bodies::ConvexMesh::ConvexMesh | ( | ) | [inline] |
| bodies::ConvexMesh::ConvexMesh | ( | const shapes::Shape * | shape | ) | [inline] |
| virtual bodies::ConvexMesh::~ConvexMesh | ( | ) | [inline, virtual] |
Member Function Documentation
| boost::shared_ptr< bodies::Body > bodies::ConvexMesh::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 970 of file bodies.cpp.
| void bodies::ConvexMesh::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 987 of file bodies.cpp.
| 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 981 of file bodies.cpp.
Project the original vertex to the scaled and padded planes and average.
Definition at line 860 of file bodies.cpp.
| double bodies::ConvexMesh::computeVolume | ( | ) | const [virtual] |
Compute the volume of the body. This method includes changes induced by scaling and padding.
Implements bodies::Body.
Definition at line 1025 of file bodies.cpp.
| bool bodies::ConvexMesh::containsPoint | ( | const Eigen::Vector3d & | p, |
| bool | verbose = false |
||
| ) | const [virtual] |
Check if a point is inside the body.
Implements bodies::Body.
Definition at line 657 of file bodies.cpp.
Definition at line 670 of file bodies.cpp.
| unsigned int bodies::ConvexMesh::countVerticesBehindPlane | ( | const Eigen::Vector4f & | planeNormal | ) | const [protected] |
(Used mainly for debugging) Count the number of vertices behind a plane
Definition at line 1011 of file bodies.cpp.
| std::vector< double > bodies::ConvexMesh::getDimensions | ( | ) | const [virtual] |
| const EigenSTL::vector_Vector3d & bodies::ConvexMesh::getScaledVertices | ( | ) | const |
Definition at line 965 of file bodies.cpp.
| const std::vector< unsigned int > & bodies::ConvexMesh::getTriangles | ( | ) | const |
Definition at line 953 of file bodies.cpp.
| const EigenSTL::vector_Vector3d & bodies::ConvexMesh::getVertices | ( | ) | const |
Definition at line 959 of file bodies.cpp.
| bool bodies::ConvexMesh::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 1039 of file bodies.cpp.
| bool bodies::ConvexMesh::isPointInsidePlanes | ( | const Eigen::Vector3d & | point | ) | const [protected] |
Check if a point is inside a set of planes that make up a convex mesh.
Definition at line 997 of file bodies.cpp.
| void bodies::ConvexMesh::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 918 of file bodies.cpp.
| void bodies::ConvexMesh::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 692 of file bodies.cpp.
Member Data Documentation
Box bodies::ConvexMesh::bounding_box_ [protected] |
Eigen::Vector3d bodies::ConvexMesh::center_ [protected] |
Eigen::Affine3d bodies::ConvexMesh::i_pose_ [protected] |
boost::shared_ptr<MeshData> bodies::ConvexMesh::mesh_data_ [protected] |
double bodies::ConvexMesh::radiusB_ [protected] |
double bodies::ConvexMesh::radiusBSqr_ [protected] |
boost::scoped_ptr<EigenSTL::vector_Vector3d> bodies::ConvexMesh::scaled_vertices_storage_ [private] |
The documentation for this class was generated from the following files: