#include "geometric_shapes/bodies.h"#include "geometric_shapes/body_operations.h"#include <console_bridge/console.h>#include <qhull/qhull.h>#include <qhull/mem.h>#include <qhull/qset.h>#include <qhull/geom.h>#include <qhull/merge.h>#include <qhull/poly.h>#include <qhull/io.h>#include <qhull/stat.h>#include <boost/math/constants/constants.hpp>#include <limits>#include <cstdio>#include <algorithm>#include <Eigen/Geometry>
Include dependency graph for bodies.cpp:
Go to the source code of this file.
Classes | |
| struct | bodies::detail::intersc |
| struct | bodies::detail::interscOrder |
Namespaces | |
| namespace | bodies |
This set of classes allows quickly detecting whether a given point is inside an object or not. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example). | |
| namespace | bodies::detail |
Functions | |
| static double | bodies::detail::distanceSQR (const Eigen::Vector3d &p, const Eigen::Vector3d &origin, const Eigen::Vector3d &dir) |
| Compute the square of the distance between a ray and a point Note: this requires 'dir' to be normalized. | |
Variables | |
| static const double | bodies::detail::ZERO = 1e-9 |