Classes
class	Body
	A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed. More...

struct	BoundingSphere
	Definition of a sphere that bounds another object. More...

class	Box
	Definition of a box. More...

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

class	Cylinder
	Definition of a cylinder. More...

class	Sphere
	Definition of a sphere. More...

Functions
Body *	createBodyFromShape (const shapes::Shape *shape)
	Create a body from a given shape. More...

static double	distanceSQR (const tf::Vector3 &p, const tf::Vector3 &origin, const tf::Vector3 &dir)
	Compute the square of the distance between a ray and a point Note: this requires 'dir' to be normalized. More...

void	mergeBoundingSpheres (const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere)
	Compute a bounding sphere to enclose a set of bounding spheres. More...

Detailed Description

Author: Ioan Sucan This set of classes allows quickly detecting whether a given point is inside an object or not. Only basic (simple) types of objects are supported: spheres, cylinders, boxes. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example).

Function Documentation

bodies::Body * bodies::createBodyFromShape ( const shapes::Shape * shape )

Create a body from a given shape.

Definition at line 44 of file bodies.cpp.

static double bodies::distanceSQR	(	const tf::Vector3 &	p,
		const tf::Vector3 &	origin,
		const tf::Vector3 &	dir
	)

inlinestatic

Compute the square of the distance between a ray and a point Note: this requires 'dir' to be normalized.

Definition at line 108 of file bodies.cpp.

void bodies::mergeBoundingSpheres	(	const std::vector< BoundingSphere > &	spheres,
		BoundingSphere &	mergedSphere
	)

Compute a bounding sphere to enclose a set of bounding spheres.

Definition at line 71 of file bodies.cpp.

const double bodies::ZERO = 1e-9

static

Definition at line 104 of file bodies.cpp.