Public Member Functions | Protected Member Functions | Protected Attributes
bodies::Body Class Reference

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:
Inheritance graph
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List of all members.

Public Member Functions

 Body ()
BodyPtr cloneAt (const Eigen::Affine3d &pose) const
 Get a clone of this body, but one that is located at the pose pose.
virtual BodyPtr cloneAt (const Eigen::Affine3d &pose, double padding, double scaling) const =0
 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 =0
 Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.
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 () 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, bool verbose=false) const
 Check if a point is inside the body.
virtual bool containsPoint (const Eigen::Vector3d &p, bool verbose=false) const =0
 Check if a point is inside the body.
virtual std::vector< double > getDimensions () const =0
 Get the dimensions associated to this body (as read from corresponding shape)
double getPadding () const
 Retrieve the current padding.
const Eigen::Affine3d & getPose () const
 Retrieve the pose of the body.
double getScale () const
 Retrieve the current scale.
shapes::ShapeType getType () const
 Get the type of shape this body represents.
virtual bool intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=NULL, unsigned int count=0) const =0
 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.
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 Eigen::Affine3d &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 ()

Protected Member Functions

virtual void updateInternalData ()=0
 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)=0
 Depending on the shape, this function copies the relevant data to the body.

Protected Attributes

double padding_
 The scale that was set for this body.
Eigen::Affine3d pose_
 The location of the body (position and orientation)
double scale_
 The scale that was set for this body.
shapes::ShapeType type_
 The type of shape this body was constructed from.

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 85 of file bodies.h.


Constructor & Destructor Documentation

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

Definition at line 89 of file bodies.h.

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

Definition at line 94 of file bodies.h.


Member Function Documentation

BodyPtr bodies::Body::cloneAt ( const Eigen::Affine3d &  pose) const [inline]

Get a clone of this body, but one that is located at the pose pose.

Definition at line 185 of file bodies.h.

virtual BodyPtr bodies::Body::cloneAt ( const Eigen::Affine3d &  pose,
double  padding,
double  scaling 
) const [pure 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.

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

virtual void bodies::Body::computeBoundingCylinder ( BoundingCylinder cylinder) const [pure virtual]

Compute the bounding cylinder 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 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 ( ) 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,
bool  verbose = false 
) const [inline]

Check if a point is inside the body.

Definition at line 152 of file bodies.h.

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

Check if a point is inside the body.

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

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

Get the dimensions associated to this body (as read from corresponding shape)

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

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

Retrieve the current padding.

Definition at line 127 of file bodies.h.

const Eigen::Affine3d& bodies::Body::getPose ( ) const [inline]

Retrieve the pose of the body.

Definition at line 140 of file bodies.h.

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

Retrieve the current scale.

Definition at line 113 of file bodies.h.

Get the type of shape this body represents.

Definition at line 99 of file bodies.h.

virtual bool bodies::Body::intersectsRay ( const Eigen::Vector3d &  origin,
const Eigen::Vector3d &  dir,
EigenSTL::vector_Vector3d intersections = NULL,
unsigned int  count = 0 
) const [pure 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.

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

bool bodies::Body::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 in bodies::Box, bodies::Cylinder, and bodies::Sphere.

Definition at line 114 of file bodies.cpp.

void bodies::Body::setDimensions ( const shapes::Shape shape)

Set the dimensions of the body (from corresponding shape)

Definition at line 108 of file bodies.cpp.

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 120 of file bodies.h.

void bodies::Body::setPose ( const Eigen::Affine3d &  pose) [inline]

Set the pose of the body. Default is identity.

Definition at line 133 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.

Definition at line 106 of file bodies.h.

virtual void bodies::Body::updateInternalData ( ) [protected, pure 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.

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

virtual void bodies::Body::useDimensions ( const shapes::Shape shape) [protected, pure virtual]

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

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


Member Data Documentation

double bodies::Body::padding_ [protected]

The scale that was set for this body.

Definition at line 211 of file bodies.h.

Eigen::Affine3d bodies::Body::pose_ [protected]

The location of the body (position and orientation)

Definition at line 217 of file bodies.h.

double bodies::Body::scale_ [protected]

The scale that was set for this body.

Definition at line 208 of file bodies.h.

The type of shape this body was constructed from.

Definition at line 214 of file bodies.h.


The documentation for this class was generated from the following files:


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Fri Dec 1 2017 03:33:45