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

#include <bodies.h>

Inheritance diagram for robot_self_filter::bodies::Body:

[legend]

Public Member Functions
	Body (void)

virtual void	computeBoundingSphere (BoundingSphere &sphere) const =0
	Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for. More...

virtual double	computeVolume (void) const =0
	Compute the volume of the body. This method includes changes induced by scaling and padding. More...

bool	containsPoint (double x, double y, double z) const
	Check is a point is inside the body. More...

virtual bool	containsPoint (const tf::Vector3 &p, bool verbose=false) const =0
	Check is a point is inside the body. More...

double	getPadding (void) const
	Retrieve the current padding. More...

const tf::Transform &	getPose (void) const
	Retrieve the pose of the body. More...

double	getScale (void) const
	Retrieve the current scale. More...

shapes::ShapeType	getType (void) const
	Get the type of shape this body represents. More...

virtual bool	intersectsRay (const tf::Vector3 &origin, const tf::Vector3 &dir, std::vector< tf::Vector3 > *intersections=NULL, unsigned int count=0) const =0
	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. More...

void	setDimensions (const shapes::Shape *shape)
	Set the dimensions of the body (from corresponding shape) More...

void	setPadding (double padd)
	If constant padding should be added to the body, this method sets the padding. Default is 0.0. More...

void	setPose (const tf::Transform &pose)
	Set the pose of the body. Default is identity. More...

void	setScale (double scale)
	If the dimension of the body should be scaled, this method sets the scale. Default is 1.0. More...

virtual	~Body (void)

Protected Member Functions
virtual void	updateInternalData (void)=0

virtual void	useDimensions (const shapes::Shape *shape)=0

Protected Attributes
double	m_padding

tf::Transform	m_pose

double	m_scale

shapes::ShapeType	m_type

Detailed Description

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

Definition at line 70 of file bodies.h.

Constructor & Destructor Documentation

robot_self_filter::bodies::Body::Body ( void )

inline

Definition at line 74 of file bodies.h.

virtual robot_self_filter::bodies::Body::~Body ( void )

inlinevirtual

Definition at line 82 of file bodies.h.

Member Function Documentation

virtual void robot_self_filter::bodies::Body::computeBoundingSphere ( BoundingSphere & sphere ) const

pure virtual

Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.

Implemented in robot_self_filter::bodies::ConvexMesh, robot_self_filter::bodies::Box, robot_self_filter::bodies::Cylinder, and robot_self_filter::bodies::Sphere.

virtual double robot_self_filter::bodies::Body::computeVolume ( void ) const

pure virtual

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

Implemented in robot_self_filter::bodies::ConvexMesh, robot_self_filter::bodies::Box, robot_self_filter::bodies::Cylinder, and robot_self_filter::bodies::Sphere.

bool robot_self_filter::bodies::Body::containsPoint	(	double	x,
		double	y,
		double	z
	)		const

inline

Check is a point is inside the body.

Definition at line 141 of file bodies.h.

virtual bool robot_self_filter::bodies::Body::containsPoint	(	const tf::Vector3 &	p,
		bool	verbose = `false`
	)		const

pure virtual

Check is a point is inside the body.

Implemented in robot_self_filter::bodies::ConvexMesh, robot_self_filter::bodies::Box, robot_self_filter::bodies::Cylinder, and robot_self_filter::bodies::Sphere.

double robot_self_filter::bodies::Body::getPadding ( void ) const

inline

Retrieve the current padding.

Definition at line 115 of file bodies.h.

const tf::Transform& robot_self_filter::bodies::Body::getPose ( void ) const

inline

Retrieve the pose of the body.

Definition at line 128 of file bodies.h.

double robot_self_filter::bodies::Body::getScale ( void ) const

inline

Retrieve the current scale.

Definition at line 101 of file bodies.h.

shapes::ShapeType robot_self_filter::bodies::Body::getType ( void ) const

inline

Get the type of shape this body represents.

Definition at line 87 of file bodies.h.

virtual bool robot_self_filter::bodies::Body::intersectsRay	(	const tf::Vector3 &	origin,
		const tf::Vector3 &	dir,
		std::vector< tf::Vector3 > *	intersections = `NULL`,
		unsigned int	count = `0`
	)		const

pure 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.

Implemented in robot_self_filter::bodies::ConvexMesh, robot_self_filter::bodies::Box, robot_self_filter::bodies::Cylinder, and robot_self_filter::bodies::Sphere.

void robot_self_filter::bodies::Body::setDimensions ( const shapes::Shape * shape )

inline

Set the dimensions of the body (from corresponding shape)

Definition at line 134 of file bodies.h.

void robot_self_filter::bodies::Body::setPadding ( double padd )

inline

If constant padding should be added to the body, this method sets the padding. Default is 0.0.

Definition at line 108 of file bodies.h.

void robot_self_filter::bodies::Body::setPose ( const tf::Transform & pose )

inline

Set the pose of the body. Default is identity.

Definition at line 121 of file bodies.h.

void robot_self_filter::bodies::Body::setScale ( double scale )

inline

If the dimension of the body should be scaled, this method sets the scale. Default is 1.0.

Definition at line 94 of file bodies.h.

virtual void robot_self_filter::bodies::Body::updateInternalData ( void )

protectedpure virtual

Implemented in robot_self_filter::bodies::ConvexMesh, robot_self_filter::bodies::Box, robot_self_filter::bodies::Cylinder, and robot_self_filter::bodies::Sphere.

virtual void robot_self_filter::bodies::Body::useDimensions ( const shapes::Shape * shape )

protectedpure virtual

Implemented in robot_self_filter::bodies::ConvexMesh, robot_self_filter::bodies::Box, robot_self_filter::bodies::Cylinder, and robot_self_filter::bodies::Sphere.

Member Data Documentation

double robot_self_filter::bodies::Body::m_padding

protected

Definition at line 171 of file bodies.h.

tf::Transform robot_self_filter::bodies::Body::m_pose

protected

Definition at line 169 of file bodies.h.

double robot_self_filter::bodies::Body::m_scale

protected

Definition at line 170 of file bodies.h.

shapes::ShapeType robot_self_filter::bodies::Body::m_type

protected

Definition at line 168 of file bodies.h.

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

bodies.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation