jsk_recognition_utils::Cube Class Reference

`#include <cube.h>`

## Public Types

typedef boost::shared_ptr< CubePtr

## Public Member Functions

Cube (const Eigen::Vector3f &pos, const Eigen::Quaternionf &rot)

Cube (const Eigen::Vector3f &pos, const Eigen::Quaternionf &rot, const std::vector< double > &dimensions)

Cube (const Eigen::Vector3f &pos, const Eigen::Quaternionf &rot, const Eigen::Vector3f &dimensions)

Cube (const Eigen::Vector3f &pos, const Line &line_a, const Line &line_b, const Line &line_c)

Cube (const jsk_recognition_msgs::BoundingBox &box)

std::vector< Segment::Ptredges ()

std::vector< Polygon::Ptrfaces ()
returns all the 6 faces as Polygon::Ptr. TODO: is it should be ConvexPolygon? More...

std::vector< double > getDimensions () const

ConvexPolygon::Ptr intersectConvexPolygon (Plane &plane)

virtual Eigen::Vector3f nearestPoint (const Eigen::Vector3f &p, double &distance)
compute minimum distance from point p to cube surface. More...

void setDimensions (const std::vector< double > &new_dimensions)

jsk_recognition_msgs::BoundingBox toROSMsg ()

Vertices transformVertices (const Eigen::Affine3f &pose_offset)
returns vertices transformed by pose_offset. More...

Vertices vertices ()
returns vertices as an array of Eigen::Vectro3f. The order of the vertices is: [1, 1, 1], [-1, 1, 1], [-1, -1, 1], [1, -1, 1], [1, 1, -1], [-1, 1, -1], [-1, -1, -1], [1, -1, -1]. More...

virtual ~Cube ()

## Protected Member Functions

virtual Polygon::Ptr buildFace (const Eigen::Vector3f v0, const Eigen::Vector3f v1, const Eigen::Vector3f v2, const Eigen::Vector3f v3)
A helper method to build polygon from 4 vertices. More...

virtual Eigen::Vector3f buildVertex (double i, double j, double k)
A helper method to build vertex from x-y-z relatiev coordinates. More...

## Protected Attributes

std::vector< double > dimensions_

Eigen::Vector3f pos_

Eigen::Quaternionf rot_

## Detailed Description

Definition at line 45 of file cube.h.

## Member Typedef Documentation

Definition at line 48 of file cube.h.

## Constructor & Destructor Documentation

 jsk_recognition_utils::Cube::Cube ( const Eigen::Vector3f & pos, const Eigen::Quaternionf & rot )

Definition at line 42 of file cube.cpp.

 jsk_recognition_utils::Cube::Cube ( const Eigen::Vector3f & pos, const Eigen::Quaternionf & rot, const std::vector< double > & dimensions )

Definition at line 48 of file cube.cpp.

 jsk_recognition_utils::Cube::Cube ( const Eigen::Vector3f & pos, const Eigen::Quaternionf & rot, const Eigen::Vector3f & dimensions )

Definition at line 54 of file cube.cpp.

 jsk_recognition_utils::Cube::Cube ( const Eigen::Vector3f & pos, const Line & line_a, const Line & line_b, const Line & line_c )

Definition at line 64 of file cube.cpp.

 jsk_recognition_utils::Cube::Cube ( const jsk_recognition_msgs::BoundingBox & box )

Definition at line 106 of file cube.cpp.

 jsk_recognition_utils::Cube::~Cube ( )
virtual

Definition at line 118 of file cube.cpp.

## Member Function Documentation

 Polygon::Ptr jsk_recognition_utils::Cube::buildFace ( const Eigen::Vector3f v0, const Eigen::Vector3f v1, const Eigen::Vector3f v2, const Eigen::Vector3f v3 )
protectedvirtual

A helper method to build polygon from 4 vertices.

Definition at line 243 of file cube.cpp.

 Eigen::Vector3f jsk_recognition_utils::Cube::buildVertex ( double i, double j, double k )
protectedvirtual

A helper method to build vertex from x-y-z relatiev coordinates.

Definition at line 284 of file cube.cpp.

 std::vector< Segment::Ptr > jsk_recognition_utils::Cube::edges ( )

Definition at line 123 of file cube.cpp.

 std::vector< Polygon::Ptr > jsk_recognition_utils::Cube::faces ( )

returns all the 6 faces as Polygon::Ptr. TODO: is it should be ConvexPolygon?

Definition at line 256 of file cube.cpp.

 std::vector jsk_recognition_utils::Cube::getDimensions ( ) const
inline

Definition at line 60 of file cube.h.

 ConvexPolygon::Ptr jsk_recognition_utils::Cube::intersectConvexPolygon ( Plane & plane )

Definition at line 174 of file cube.cpp.

 Eigen::Vector3f jsk_recognition_utils::Cube::nearestPoint ( const Eigen::Vector3f & p, double & distance )
virtual

compute minimum distance from point p to cube surface.

Distance computation depends on Polygon::nearestPoint and this methods just searches a face which resutnrs the smallest distance.

Definition at line 292 of file cube.cpp.

 void jsk_recognition_utils::Cube::setDimensions ( const std::vector< double > & new_dimensions )
inline

Definition at line 61 of file cube.h.

 jsk_recognition_msgs::BoundingBox jsk_recognition_utils::Cube::toROSMsg ( )

Definition at line 203 of file cube.cpp.

 Vertices jsk_recognition_utils::Cube::transformVertices ( const Eigen::Affine3f & pose_offset )

returns vertices transformed by pose_offset.

Definition at line 233 of file cube.cpp.

 Vertices jsk_recognition_utils::Cube::vertices ( )

returns vertices as an array of Eigen::Vectro3f. The order of the vertices is: [1, 1, 1], [-1, 1, 1], [-1, -1, 1], [1, -1, 1], [1, 1, -1], [-1, 1, -1], [-1, -1, -1], [1, -1, -1].

Definition at line 219 of file cube.cpp.

## Member Data Documentation

 std::vector jsk_recognition_utils::Cube::dimensions_
protected

Definition at line 103 of file cube.h.

 Eigen::Vector3f jsk_recognition_utils::Cube::pos_
protected

Definition at line 101 of file cube.h.

 Eigen::Quaternionf jsk_recognition_utils::Cube::rot_
protected

Definition at line 102 of file cube.h.

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

jsk_recognition_utils
Author(s):
autogenerated on Wed May 27 2020 03:59:48