aabb.cpp
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34 
35 /* Author: Martin Pecka */
36 
39 
40 void moveit::core::AABB::extendWithTransformedBox(const Eigen::Isometry3d& transform, const Eigen::Vector3d& box)
41 {
42  // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) (BSD-licensed code):
43  // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
44  // We don't call their code because it would need creating temporary objects, and their method is in floats.
45  //
46  // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
47 
48  ASSERT_ISOMETRY(transform) // unsanitized input, could contain non-isometry
49  const Eigen::Matrix3d& r = transform.linear();
50  const Eigen::Vector3d& t = transform.translation();
51 
52  double x_range = 0.5 * (fabs(r(0, 0) * box[0]) + fabs(r(0, 1) * box[1]) + fabs(r(0, 2) * box[2]));
53  double y_range = 0.5 * (fabs(r(1, 0) * box[0]) + fabs(r(1, 1) * box[1]) + fabs(r(1, 2) * box[2]));
54  double z_range = 0.5 * (fabs(r(2, 0) * box[0]) + fabs(r(2, 1) * box[1]) + fabs(r(2, 2) * box[2]));
55 
56  const Eigen::Vector3d v_delta(x_range, y_range, z_range);
57  extend(t + v_delta);
58  extend(t - v_delta);
59 }
moveit::core::AABB::extendWithTransformedBox
void extendWithTransformedBox(const Eigen::Isometry3d &transform, const Eigen::Vector3d &box)
Extend with a box transformed by the given transform.
Definition: aabb.cpp:40
check_isometry.h
transform
template Halfspace< double > transform(const Halfspace< double > &a, const Transform3< double > &tf)
ASSERT_ISOMETRY
#define ASSERT_ISOMETRY(transform)
aabb.h
r
S r
t
geometry_msgs::TransformStamped t
fcl::Vector3d
Vec3fX< details::Vec3Data< double > > Vector3d
Definition: fcl_compat.h:89


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Mar 3 2024 03:23:35