Definition of a sphere. More...

#include <bodies.h>

Inheritance diagram for bodies::Sphere:

Public Member Functions
virtual BodyPtr	cloneAt (const Eigen::Affine3d &pose, double padding, double scale) const
	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.
virtual void	computeBoundingCylinder (BoundingCylinder &cylinder) const
	Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.
virtual void	computeBoundingSphere (BoundingSphere &sphere) const
	Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.
virtual double	computeVolume () const
	Compute the volume of the body. This method includes changes induced by scaling and padding.
virtual bool	containsPoint (const Eigen::Vector3d &p, bool verbose=false) const
	Check if a point is inside the body.
virtual std::vector< double >	getDimensions () const
	Get the radius of the sphere.
virtual bool	intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=NULL, unsigned int count=0) const
	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.
virtual bool	samplePointInside (random_numbers::RandomNumberGenerator &rng, unsigned int max_attempts, Eigen::Vector3d &result)
	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.
	Sphere ()
	Sphere (const shapes::Shape *shape)
virtual	~Sphere ()
Protected Member Functions
virtual void	updateInternalData ()
	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.
virtual void	useDimensions (const shapes::Shape *shape)
	Depending on the shape, this function copies the relevant data to the body.
Protected Attributes
Eigen::Vector3d	center_
double	radius2_
double	radius_
double	radiusU_

Detailed Description

Definition of a sphere.

Definition at line 224 of file bodies.h.

Constructor & Destructor Documentation

bodies::Sphere::Sphere ( ) [inline]

Definition at line 227 of file bodies.h.

bodies::Sphere::Sphere ( const shapes::Shape * shape ) [inline]

Definition at line 232 of file bodies.h.

virtual bodies::Sphere::~Sphere ( ) [inline, virtual]

Definition at line 238 of file bodies.h.

Member Function Documentation

boost::shared_ptr< bodies::Body > bodies::Sphere::cloneAt	(	const Eigen::Affine3d &	pose,
		double	padding,
		double	scaling
	)		const `[virtual]`

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 152 of file bodies.cpp.

void bodies::Sphere::computeBoundingCylinder ( BoundingCylinder & cylinder ) const [virtual]

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

Implements bodies::Body.

Definition at line 174 of file bodies.cpp.

void 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 bodies::Body.

Definition at line 168 of file bodies.cpp.

double bodies::Sphere::computeVolume ( ) const [virtual]

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

Implements bodies::Body.

Definition at line 163 of file bodies.cpp.

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

Check if a point is inside the body.

Implements bodies::Body.

Definition at line 129 of file bodies.cpp.

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

Get the radius of the sphere.

Implements bodies::Body.

Definition at line 139 of file bodies.cpp.

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

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.

Implements bodies::Body.

Definition at line 202 of file bodies.cpp.

bool bodies::Sphere::samplePointInside	(	random_numbers::RandomNumberGenerator &	rng,
		unsigned int	max_attempts,
		Eigen::Vector3d &	result
	)		`[virtual]`

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 182 of file bodies.cpp.

void bodies::Sphere::updateInternalData ( ) [protected, virtual]

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 145 of file bodies.cpp.

void bodies::Sphere::useDimensions ( const shapes::Shape * shape ) [protected, virtual]

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

Implements bodies::Body.

Definition at line 134 of file bodies.cpp.