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| Box (void) |
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| Box (const shapes::Shape *shape) |
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virtual void | computeBoundingSphere (BoundingSphere &sphere) const |
| Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for. More...
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virtual double | computeVolume (void) const |
| Compute the volume of the body. This method includes changes induced by scaling and padding. More...
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virtual bool | containsPoint (const tf::Vector3 &p, bool verbose=false) const |
| Check is a point is inside the body. More...
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virtual bool | intersectsRay (const tf::Vector3 &origin, const tf::Vector3 &dir, std::vector< tf::Vector3 > *intersections=NULL, unsigned int count=0) const |
| 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...
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virtual | ~Box (void) |
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Public Member Functions inherited from robot_self_filter::bodies::Body |
| Body (void) |
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bool | containsPoint (double x, double y, double z) const |
| Check is a point is inside the body. More...
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double | getPadding (void) const |
| Retrieve the current padding. More...
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const tf::Transform & | getPose (void) const |
| Retrieve the pose of the body. More...
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double | getScale (void) const |
| Retrieve the current scale. More...
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shapes::ShapeType | getType (void) const |
| Get the type of shape this body represents. More...
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void | setDimensions (const shapes::Shape *shape) |
| Set the dimensions of the body (from corresponding shape) More...
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void | setPadding (double padd) |
| If constant padding should be added to the body, this method sets the padding. Default is 0.0. More...
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void | setPose (const tf::Transform &pose) |
| Set the pose of the body. Default is identity. More...
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void | setScale (double scale) |
| If the dimension of the body should be scaled, this method sets the scale. Default is 1.0. More...
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virtual | ~Body (void) |
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Definition of a box.
Definition at line 255 of file bodies.h.