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:

## 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. |

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

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

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

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

virtual BodyPtr bodies::Body::cloneAt | ( | const Eigen::Affine3d & | pose, |

double | padding, |
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double | scaling |
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) | 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, |
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double | z, |
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bool | verbose = `false` |
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) | const` [inline]` |

virtual bool bodies::Body::containsPoint | ( | const Eigen::Vector3d & | p, |

bool | verbose = `false` |
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) | 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]` |

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

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

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

virtual bool bodies::Body::intersectsRay | ( | const Eigen::Vector3d & | origin, |

const Eigen::Vector3d & | dir, |
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EigenSTL::vector_Vector3d * | intersections = `NULL` , |
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unsigned int | count = `0` |
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) | 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, |
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Eigen::Vector3d & | result |
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) | ` [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]` |

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

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

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.

double bodies::Body::padding_` [protected]` |

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

double bodies::Body::scale_` [protected]` |

shapes::ShapeType bodies::Body::type_` [protected]` |

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