bodies::OBB Class Reference

Represents an oriented bounding box. More...

#include <obb.h>

Public Member Functions
EigenSTL::vector_Vector3d	computeVertices () const
	Compute coordinates of the 8 vertices of this OBB. More...
bool	contains (const Eigen::Vector3d &point) const
	Check if this OBB contains the given point. More...
bool	contains (const OBB &obb) const
	Check if this OBB contains whole other OBB. More...
OBB *	extendApprox (const OBB &box)
	Add the other OBB to this one and compute an approximate enclosing OBB. More...
Eigen::Vector3d	getExtents () const
	Get the extents of the OBB. More...
void	getExtents (Eigen::Vector3d &extents) const
	Get the extents of the OBB. More...
Eigen::Isometry3d	getPose () const
	Get the pose of the OBB. More...
void	getPose (Eigen::Isometry3d &pose) const
	Get The pose of the OBB. More...
	OBB ()
	Initialize an oriented bounding box at position 0, with 0 extents and identity orientation. More...
	OBB (const Eigen::Isometry3d &pose, const Eigen::Vector3d &extents)
	OBB (const OBB &other)
OBB &	operator= (const OBB &other)
bool	overlaps (const OBB &other) const
	Check whether this and the given OBBs have nonempty intersection. More...
void	setPoseAndExtents (const Eigen::Isometry3d &pose, const Eigen::Vector3d &extents)
	Set both the pose and extents of the OBB. More...
AABB	toAABB () const
	Convert this OBB to an axis-aligned BB. More...
void	toAABB (AABB &aabb) const
	Convert this OBB to an axis-aligned BB. More...
virtual	~OBB ()

Protected Attributes
std::unique_ptr< OBBPrivate >	obb_
	PIMPL pointer. More...

Detailed Description

Represents an oriented bounding box.

Definition at line 85 of file obb.h.

Constructor & Destructor Documentation

OBB() [1/3]

bodies::OBB::OBB

(

)

Initialize an oriented bounding box at position 0, with 0 extents and identity orientation.

Definition at line 43 of file obb.cpp.

OBB() [2/3]

bodies::OBB::OBB

(

const OBB &

other

)

Definition at line 60 of file obb.cpp.

OBB() [3/3]

bodies::OBB::OBB	(	const Eigen::Isometry3d &	pose,
		const Eigen::Vector3d &	extents
	)

Definition at line 65 of file obb.cpp.

~OBB()

bodies::OBB::~OBB ( )

virtualdefault

Member Function Documentation

computeVertices()

EigenSTL::vector_Vector3d bodies::OBB::computeVertices

(

)

const

Compute coordinates of the 8 vertices of this OBB.

Returns

The vertices.

Definition at line 169 of file obb.cpp.

contains() [1/2]

bool bodies::OBB::contains

(

const Eigen::Vector3d &

point

)

const

Check if this OBB contains the given point.

Parameters

point

The point to check.

Returns

Whether the point is inside or not.

Definition at line 159 of file obb.cpp.

contains() [2/2]

bool bodies::OBB::contains

(

const OBB &

obb

)

const

Check if this OBB contains whole other OBB.

Parameters

point

The point to check.

Returns

Whether the point is inside or not.

Definition at line 194 of file obb.cpp.

extendApprox()

OBB * bodies::OBB::extendApprox

(

const OBB &

box

)

Add the other OBB to this one and compute an approximate enclosing OBB.

Parameters

box	The other box to add.

Returns

Pointer to this OBB after the update.

Definition at line 138 of file obb.cpp.

getExtents() [1/2]

Eigen::Vector3d bodies::OBB::getExtents

(

)

const

Get the extents of the OBB.

Returns

The extents.

Definition at line 99 of file obb.cpp.

getExtents() [2/2]

void bodies::OBB::getExtents

(

Eigen::Vector3d &

extents

)

const

Get the extents of the OBB.

Parameters

extents

[out] The extents.

Definition at line 94 of file obb.cpp.

getPose() [1/2]

Eigen::Isometry3d bodies::OBB::getPose

(

)

const

Get the pose of the OBB.

Returns

The pose.

Definition at line 119 of file obb.cpp.

getPose() [2/2]

void bodies::OBB::getPose

(

Eigen::Isometry3d &

pose

)

const

Get The pose of the OBB.

Parameters

pose

The pose.

Definition at line 106 of file obb.cpp.

operator=()

OBB & bodies::OBB::operator=

(

const OBB &

other

)

Definition at line 71 of file obb.cpp.

overlaps()

bool bodies::OBB::overlaps

(

const OBB &

other

)

const

Check whether this and the given OBBs have nonempty intersection.

Parameters

other

The other OBB to check.

Returns

Whether the OBBs overlap.

Definition at line 164 of file obb.cpp.

setPoseAndExtents()

void bodies::OBB::setPoseAndExtents	(	const Eigen::Isometry3d &	pose,
		const Eigen::Vector3d &	extents
	)

Set both the pose and extents of the OBB.

Parameters

[in]	pose	New pose of the OBB.
[in]	extents	New extents of the OBB.

Definition at line 77 of file obb.cpp.

toAABB() [1/2]

AABB bodies::OBB::toAABB

(

)

const

Convert this OBB to an axis-aligned BB.

Returns

The AABB.

Definition at line 126 of file obb.cpp.

toAABB() [2/2]

void bodies::OBB::toAABB

(

AABB &

aabb

)

const

Convert this OBB to an axis-aligned BB.

Parameters

aabb

The AABB.

Definition at line 133 of file obb.cpp.

Member Data Documentation

obb_

std::unique_ptr<OBBPrivate> bodies::OBB::obb_

protected

PIMPL pointer.

Definition at line 176 of file obb.h.

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

• obb.h
• obb.cpp