A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed. More...

#include <bodies.h>

Inheritance diagram for bodies::Body:

[legend]

List of all members.

Public Member Functions
	Body (void)
virtual void	computeBoundingSphere (BoundingSphere &sphere) const =0
	Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.
virtual double	computeVolume (void) const =0
	Compute the volume of the body. This method includes changes induced by scaling and padding.
bool	containsPoint (double x, double y, double z) const
	Check is a point is inside the body.
virtual bool	containsPoint (const tf::Vector3 &p, bool verbose=false) const =0
	Check is a point is inside the body.
double	getPadding (void) const
	Retrieve the current padding.
const tf::Transform &	getPose (void) const
	Retrieve the pose of the body.
double	getScale (void) const
	Retrieve the current scale.
shapes::ShapeType	getType (void) const
	Get the type of shape this body represents.
virtual bool	intersectsRay (const tf::Vector3 &origin, const tf::Vector3 &dir, std::vector< tf::Vector3 > *intersections=NULL, unsigned int count=0) const =0
	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.
void	setDimensions (const shapes::Shape *shape)
	Set the dimensions of the body (from corresponding shape)
void	setPadding (double padd)
	If constant padding should be added to the body, this method sets the padding. Default is 0.0.
void	setPose (const tf::Transform &pose)
	Set the pose of the body. Default is identity.
void	setScale (double scale)
	If the dimension of the body should be scaled, this method sets the scale. Default is 1.0.
virtual	~Body (void)
Protected Member Functions
virtual void	updateInternalData (void)=0
virtual void	useDimensions (const shapes::Shape *shape)=0
Protected Attributes
double	m_padding
tf::Transform	m_pose
double	m_scale
shapes::ShapeType	m_type

Detailed Description

A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed.

Definition at line 69 of file bodies.h.

Constructor & Destructor Documentation

bodies::Body::Body ( void ) [inline]

Definition at line 73 of file bodies.h.

virtual bodies::Body::~Body ( void ) [inline, virtual]

Definition at line 81 of file bodies.h.

Member Function Documentation

virtual void bodies::Body::computeBoundingSphere ( BoundingSphere & sphere ) const [pure virtual]

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

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

virtual double bodies::Body::computeVolume ( void ) const [pure virtual]

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

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

bool bodies::Body::containsPoint	(	double	x,
		double	y,
		double	z
	)		const `[inline]`

Check is a point is inside the body.

Definition at line 140 of file bodies.h.

virtual bool bodies::Body::containsPoint	(	const tf::Vector3 &	p,
		bool	verbose = `false`
	)		const `[pure virtual]`

Check is a point is inside the body.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

double bodies::Body::getPadding ( void ) const [inline]

Retrieve the current padding.

Definition at line 114 of file bodies.h.

const tf::Transform& bodies::Body::getPose ( void ) const [inline]

Retrieve the pose of the body.

Definition at line 127 of file bodies.h.

double bodies::Body::getScale ( void ) const [inline]

Retrieve the current scale.

Definition at line 100 of file bodies.h.

shapes::ShapeType bodies::Body::getType ( void ) const [inline]

Get the type of shape this body represents.

Definition at line 86 of file bodies.h.

virtual bool bodies::Body::intersectsRay	(	const tf::Vector3 &	origin,
		const tf::Vector3 &	dir,
		std::vector< tf::Vector3 > *	intersections = `NULL`,
		unsigned int	count = `0`
	)		const `[pure 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.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

void bodies::Body::setDimensions ( const shapes::Shape * shape ) [inline]

Set the dimensions of the body (from corresponding shape)

Definition at line 133 of file bodies.h.

void bodies::Body::setPadding ( double padd ) [inline]

If constant padding should be added to the body, this method sets the padding. Default is 0.0.

Definition at line 107 of file bodies.h.

void bodies::Body::setPose ( const tf::Transform & pose ) [inline]

Set the pose of the body. Default is identity.

Definition at line 120 of file bodies.h.

void bodies::Body::setScale ( double scale ) [inline]

If the dimension of the body should be scaled, this method sets the scale. Default is 1.0.