find_internal_points.cpp
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00034 
00035 /* Author: Acorn Pooley */
00036 
00037 #include <moveit/distance_field/find_internal_points.h>
00038 
00039 void distance_field::findInternalPointsConvex(const bodies::Body& body, double resolution,
00040                                               EigenSTL::vector_Vector3d& points)
00041 {
00042   bodies::BoundingSphere sphere;
00043   body.computeBoundingSphere(sphere);
00044   double xval_s = std::floor((sphere.center.x() - sphere.radius - resolution) / resolution) * resolution;
00045   double yval_s = std::floor((sphere.center.y() - sphere.radius - resolution) / resolution) * resolution;
00046   double zval_s = std::floor((sphere.center.z() - sphere.radius - resolution) / resolution) * resolution;
00047   double xval_e = sphere.center.x() + sphere.radius + resolution;
00048   double yval_e = sphere.center.y() + sphere.radius + resolution;
00049   double zval_e = sphere.center.z() + sphere.radius + resolution;
00050   Eigen::Vector3d pt;
00051   for (pt.x() = xval_s; pt.x() <= xval_e; pt.x() += resolution)
00052   {
00053     for (pt.y() = yval_s; pt.y() <= yval_e; pt.y() += resolution)
00054     {
00055       for (pt.z() = zval_s; pt.z() <= zval_e; pt.z() += resolution)
00056       {
00057         if (body.containsPoint(pt))
00058         {
00059           points.push_back(pt);
00060         }
00061       }
00062     }
00063   }
00064 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45