Definition of a sphere. More...

#include <bodies.h>

Inheritance diagram for bodies::Sphere:

Public Member Functions
BodyPtr	cloneAt (const Eigen::Isometry3d &pose, double padding, double scale) const override
	Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around. More...

void	computeBoundingBox (AABB &bbox) const override
	Compute the axis-aligned bounding box for the body, in its current pose. Scaling and padding are accounted for. More...

void	computeBoundingBox (OBB &bbox) const override
	Compute the oriented bounding box for the body, in its current pose. Scaling and padding are accounted for. More...

void	computeBoundingCylinder (BoundingCylinder &cylinder) const override
	Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for. More...

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

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

bool	containsPoint (const Eigen::Vector3d &p, bool verbose=false) const override
	Check if a point is inside the body. Surface points are included. More...

std::vector< double >	getDimensions () const override
	Get the radius of the sphere. More...

std::vector< double >	getScaledDimensions () const override
	Get the dimensions associated to this body (scaled and padded) More...

bool	intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=nullptr, unsigned int count=0) const override
	Check if 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. Passing dir as a unit vector will result in faster computation. More...

bool	samplePointInside (random_numbers::RandomNumberGenerator &rng, unsigned int max_attempts, Eigen::Vector3d &result) const override
	Sample a point that is included in the body using a given random number generator. More...

	Sphere ()

	Sphere (const shapes::Shape *shape)

	Sphere (const BoundingSphere &sphere)

void	updateInternalData () override
	This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date. More...

	~Sphere () override

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

BodyPtr	cloneAt (const Eigen::Isometry3d &pose) const
	Get a clone of this body, but one that is located at the pose pose. More...

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

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

const Eigen::Isometry3d &	getPose () const
	Retrieve the pose of the body. More...

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

shapes::ShapeType	getType () 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	setDimensionsDirty (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	setPaddingDirty (double padd)
	If the dimension of the body should be padded, this method sets the pading. More...

void	setPose (const Eigen::Isometry3d &pose)
	Set the pose of the body. Default is identity. More...

void	setPoseDirty (const Eigen::Isometry3d &pose)
	Set the pose of the body. More...

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

void	setScaleDirty (double scale)
	If the dimension of the body should be scaled, this method sets the scale. More...

virtual	~Body ()

Protected Member Functions
void	useDimensions (const shapes::Shape *shape) override
	Depending on the shape, this function copies the relevant data to the body. More...

Protected Attributes
Eigen::Vector3d	center_

double	radius2_

double	radius_

double	radiusU_

Protected Attributes inherited from bodies::Body
double	padding_
	The scale that was set for this body. More...

Eigen::Isometry3d	pose_
	The location of the body (position and orientation) More...

double	scale_
	The scale that was set for this body. More...

shapes::ShapeType	type_
	The type of shape this body was constructed from. More...

Detailed Description

Definition of a sphere.

Definition at line 293 of file bodies.h.

Constructor & Destructor Documentation

◆ Sphere() [1/3]

bodies::Sphere::Sphere ( )

inline

Definition at line 296 of file bodies.h.

◆ Sphere() [2/3]

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

inline

Definition at line 301 of file bodies.h.

◆ Sphere() [3/3]

bodies::Sphere::Sphere ( const BoundingSphere & sphere )

inlineexplicit

Definition at line 307 of file bodies.h.

◆ ~Sphere()

bodies::Sphere::~Sphere ( )

inlineoverride

Definition at line 318 of file bodies.h.

Member Function Documentation

◆ cloneAt()

std::shared_ptr< bodies::Body > bodies::Sphere::cloneAt	(	const Eigen::Isometry3d &	pose,
		double	padding,
		double	scaling
	)		const

overridevirtual

Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around.

Implements bodies::Body.

Definition at line 214 of file bodies.cpp.

◆ computeBoundingBox() [1/2]

void bodies::Sphere::computeBoundingBox ( AABB & bbox ) const

overridevirtual

Compute the axis-aligned bounding box for the body, in its current pose. Scaling and padding are accounted for.

Implements bodies::Body.

Definition at line 243 of file bodies.cpp.

◆ computeBoundingBox() [2/2]

void bodies::Sphere::computeBoundingBox ( OBB & bbox ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 254 of file bodies.cpp.

◆ computeBoundingCylinder()

void bodies::Sphere::computeBoundingCylinder ( BoundingCylinder & cylinder ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 236 of file bodies.cpp.

◆ computeBoundingSphere()

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

overridevirtual

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

Implements bodies::Body.

Definition at line 230 of file bodies.cpp.

◆ computeVolume()

double bodies::Sphere::computeVolume ( ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 225 of file bodies.cpp.

◆ containsPoint()

bool bodies::Sphere::containsPoint	(	const Eigen::Vector3d &	p,
		bool	verbose = `false`
	)		const

overridevirtual

Check if a point is inside the body. Surface points are included.

Implements bodies::Body.

Definition at line 184 of file bodies.cpp.

◆ getDimensions()

std::vector< double > bodies::Sphere::getDimensions ( ) const

overridevirtual

Get the radius of the sphere.

Implements bodies::Body.

Definition at line 194 of file bodies.cpp.

◆ getScaledDimensions()

std::vector< double > bodies::Sphere::getScaledDimensions ( ) const

overridevirtual

Get the dimensions associated to this body (scaled and padded)

Implements bodies::Body.

Definition at line 199 of file bodies.cpp.

◆ intersectsRay()

bool bodies::Sphere::intersectsRay	(	const Eigen::Vector3d &	origin,
		const Eigen::Vector3d &	dir,
		EigenSTL::vector_Vector3d *	intersections = `nullptr`,
		unsigned int	count = `0`
	)		const

overridevirtual

Check if 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. Passing dir as a unit vector will result in faster computation.

Implements bodies::Body.

Definition at line 286 of file bodies.cpp.

◆ samplePointInside()

bool bodies::Sphere::samplePointInside	(	random_numbers::RandomNumberGenerator &	rng,
		unsigned int	max_attempts,
		Eigen::Vector3d &	result
	)		const

overridevirtual

Sample a point that is included in the body using a given random number generator.

Sometimes multiple attempts need to be generated. The function terminates with failure (returns false) after max_attempts attempts. If the call is successful (returns true) the point is written to result

Reimplemented from bodies::Body.

Definition at line 263 of file bodies.cpp.

◆ updateInternalData()

void bodies::Sphere::updateInternalData ( )

overridevirtual

This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date.

Implements bodies::Body.

Definition at line 204 of file bodies.cpp.

◆ useDimensions()

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

overrideprotectedvirtual

Depending on the shape, this function copies the relevant data to the body.

Implements bodies::Body.

Definition at line 189 of file bodies.cpp.

Member Data Documentation

◆ center_

Eigen::Vector3d bodies::Sphere::center_

protected

Definition at line 348 of file bodies.h.

◆ radius2_

double bodies::Sphere::radius2_

protected

Definition at line 350 of file bodies.h.

◆ radius_

double bodies::Sphere::radius_

protected

Definition at line 345 of file bodies.h.

◆ radiusU_

double bodies::Sphere::radiusU_

protected

Definition at line 349 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

◆ Sphere() [1/3]

◆ Sphere() [2/3]

◆ Sphere() [3/3]

◆ ~Sphere()

Member Function Documentation

◆ cloneAt()

◆ computeBoundingBox() [1/2]

◆ computeBoundingBox() [2/2]

◆ computeBoundingCylinder()

◆ computeBoundingSphere()

◆ computeVolume()

◆ containsPoint()

◆ getDimensions()

◆ getScaledDimensions()

◆ intersectsRay()

◆ samplePointInside()

◆ updateInternalData()

◆ useDimensions()

Member Data Documentation

◆ center_

◆ radius2_

◆ radius_

◆ radiusU_