Namespaces | Classes | Typedefs | Functions
bodies Namespace Reference

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). More...

Namespaces

namespace  detail

Classes

class  Body
 A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed. More...
class  BodyVector
 A vector of Body objects. More...
struct  BoundingCylinder
 Definition of a cylinder. More...
struct  BoundingSphere
 Definition of a sphere that bounds another object. More...
class  Box
 Definition of a box. More...
class  ConvexMesh
 Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More...
class  Cylinder
 Definition of a cylinder. More...
class  Sphere
 Definition of a sphere. More...

Typedefs

typedef boost::shared_ptr
< const Body
BodyConstPtr
 Shared pointer to a const Body.
typedef boost::shared_ptr< BodyBodyPtr
 Shared pointer to a Body.

Functions

void computeBoundingSphere (const std::vector< const Body * > &bodies, BoundingSphere &mergedSphere)
 Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere.
BodyconstructBodyFromMsg (const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose)
 Create a body from a given shape.
BodyconstructBodyFromMsg (const shape_msgs::SolidPrimitive &shape, const geometry_msgs::Pose &pose)
 Create a body from a given shape.
BodyconstructBodyFromMsg (const shapes::ShapeMsg &shape, const geometry_msgs::Pose &pose)
 Create a body from a given shape.
template<typename T >
BodyconstructBodyFromMsgHelper (const T &shape_msg, const geometry_msgs::Pose &pose)
BodycreateBodyFromShape (const shapes::Shape *shape)
 Create a body from a given shape.
void mergeBoundingSpheres (const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere)
 Compute a bounding sphere to enclose a set of bounding spheres.

Detailed Description

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).


Typedef Documentation

typedef boost::shared_ptr< const Body > bodies::BodyConstPtr

Shared pointer to a const Body.

Definition at line 80 of file bodies.h.

typedef boost::shared_ptr< Body > bodies::BodyPtr

Shared pointer to a Body.

Definition at line 74 of file bodies.h.


Function Documentation

void bodies::computeBoundingSphere ( const std::vector< const Body * > &  bodies,
BoundingSphere &  mergedSphere 
)

Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere.

bodies::Body * bodies::constructBodyFromMsg ( const shape_msgs::Mesh &  shape,
const geometry_msgs::Pose &  pose 
)

Create a body from a given shape.

Definition at line 132 of file body_operations.cpp.

bodies::Body * bodies::constructBodyFromMsg ( const shape_msgs::SolidPrimitive &  shape,
const geometry_msgs::Pose &  pose 
)

Create a body from a given shape.

Definition at line 137 of file body_operations.cpp.

bodies::Body * bodies::constructBodyFromMsg ( const shapes::ShapeMsg shape,
const geometry_msgs::Pose &  pose 
)

Create a body from a given shape.

Definition at line 127 of file body_operations.cpp.

template<typename T >
Body* bodies::constructBodyFromMsgHelper ( const T &  shape_msg,
const geometry_msgs::Pose &  pose 
)

Definition at line 103 of file body_operations.cpp.

Create a body from a given shape.

Author:
Ioan Sucan, E. Gil Jones

Definition at line 42 of file body_operations.cpp.

void bodies::mergeBoundingSpheres ( const std::vector< BoundingSphere > &  spheres,
BoundingSphere &  mergedSphere 
)

Compute a bounding sphere to enclose a set of bounding spheres.

Definition at line 69 of file body_operations.cpp.



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