Definition of a sphere. More...

#include <bodies.h>

Inheritance diagram for robot_self_filter::bodies::Sphere:

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

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

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

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...

	Sphere (void)

	Sphere (const shapes::Shape *shape)

virtual	~Sphere (void)

Public Member Functions inherited from robot_self_filter::bodies::Body
	Body (void)

bool	containsPoint (double x, double y, double z) const
	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...

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)

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

Protected Attributes
tf::Vector3	m_center

double	m_radius

double	m_radius2

double	m_radiusU

Protected Attributes inherited from robot_self_filter::bodies::Body
double	m_padding

tf::Transform	m_pose

double	m_scale

shapes::ShapeType	m_type

Detailed Description

Definition of a sphere.

Definition at line 175 of file bodies.h.

Constructor & Destructor Documentation

robot_self_filter::bodies::Sphere::Sphere ( void )

inline

Definition at line 178 of file bodies.h.

robot_self_filter::bodies::Sphere::Sphere ( const shapes::Shape * shape )

inline

Definition at line 183 of file bodies.h.

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

inlinevirtual

Definition at line 189 of file bodies.h.

Member Function Documentation

void robot_self_filter::bodies::Sphere::computeBoundingSphere ( BoundingSphere & sphere ) const

virtual

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

Implements robot_self_filter::bodies::Body.

Definition at line 162 of file bodies.cpp.

double robot_self_filter::bodies::Sphere::computeVolume ( void ) const

virtual

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

Implements robot_self_filter::bodies::Body.

Definition at line 157 of file bodies.cpp.

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

virtual

Check is a point is inside the body.

Implements robot_self_filter::bodies::Body.

Definition at line 140 of file bodies.cpp.

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

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.

Implements robot_self_filter::bodies::Body.

Definition at line 168 of file bodies.cpp.

void robot_self_filter::bodies::Sphere::updateInternalData ( void )

protectedvirtual

Implements robot_self_filter::bodies::Body.

Definition at line 150 of file bodies.cpp.

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

protectedvirtual

Implements robot_self_filter::bodies::Body.

Definition at line 145 of file bodies.cpp.

Member Data Documentation

tf::Vector3 robot_self_filter::bodies::Sphere::m_center

protected

Definition at line 203 of file bodies.h.

double robot_self_filter::bodies::Sphere::m_radius

protected

Definition at line 204 of file bodies.h.

double robot_self_filter::bodies::Sphere::m_radius2

protected

Definition at line 206 of file bodies.h.

double robot_self_filter::bodies::Sphere::m_radiusU

protected

Definition at line 205 of file bodies.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation