jsk_recognition_utils::Cube Class Reference

#include <cube.h>

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 Eigen::Vector3f &dimensions)
	Cube (const Eigen::Vector3f &pos, const Eigen::Quaternionf &rot, const std::vector< double > &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? More...
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. More...
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. More...
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]. More...
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. More...
virtual Eigen::Vector3f	buildVertex (double i, double j, double k)
	A helper method to build vertex from x-y-z relatiev coordinates. More...

Protected Attributes
std::vector< double >	dimensions_
Eigen::Vector3f	pos_
Eigen::Quaternionf	rot_

Detailed Description

Definition at line 77 of file cube.h.

Member Typedef Documentation

Ptr

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

Definition at line 112 of file cube.h.

Constructor & Destructor Documentation

Cube() [1/5]

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

Definition at line 42 of file cube.cpp.

Cube() [2/5]

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.

Cube() [3/5]

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.

Cube() [4/5]

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.

Cube() [5/5]

jsk_recognition_utils::Cube::Cube

(

const jsk_recognition_msgs::BoundingBox &

box

)

Definition at line 106 of file cube.cpp.

~Cube()

jsk_recognition_utils::Cube::~Cube ( )

virtual

Definition at line 118 of file cube.cpp.

Member Function Documentation

buildFace()

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

protectedvirtual

A helper method to build polygon from 4 vertices.

Definition at line 243 of file cube.cpp.

buildVertex()

Eigen::Vector3f jsk_recognition_utils::Cube::buildVertex ( double  i, double  j, double  k  )

protectedvirtual

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

Definition at line 284 of file cube.cpp.

edges()

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

(

)

Definition at line 123 of file cube.cpp.

faces()

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.

getDimensions()

std::vector<double> jsk_recognition_utils::Cube::getDimensions ( ) const

inline

Definition at line 124 of file cube.h.

intersectConvexPolygon()

ConvexPolygon::Ptr jsk_recognition_utils::Cube::intersectConvexPolygon

(

Plane &

plane

)

Definition at line 174 of file cube.cpp.

nearestPoint()

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.

setDimensions()

void jsk_recognition_utils::Cube::setDimensions ( const std::vector< double > &  new_dimensions )

inline

Definition at line 125 of file cube.h.

toROSMsg()

jsk_recognition_msgs::BoundingBox jsk_recognition_utils::Cube::toROSMsg

(

)

Definition at line 203 of file cube.cpp.

transformVertices()

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()

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.

Member Data Documentation

dimensions_

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

protected

Definition at line 167 of file cube.h.

pos_

Eigen::Vector3f jsk_recognition_utils::Cube::pos_

protected

Definition at line 165 of file cube.h.

rot_

Eigen::Quaternionf jsk_recognition_utils::Cube::rot_

protected

Definition at line 166 of file cube.h.

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

• cube.h
• cube.cpp