aabb.cpp
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34 
35 /* Author: Martin Pecka */
36 
38 
39 void moveit::core::AABB::extendWithTransformedBox(const Eigen::Affine3d& transform, const Eigen::Vector3d& box)
40 {
41  // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) (BSD-licensed code):
42  // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
43  // We don't call their code because it would need creating temporary objects, and their method is in floats.
44  //
45  // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
46 
47  const Eigen::Matrix3d& R = transform.rotation();
48  const Eigen::Vector3d& T = transform.translation();
49 
50  double x_range = 0.5 * (fabs(R(0, 0) * box[0]) + fabs(R(0, 1) * box[1]) + fabs(R(0, 2) * box[2]));
51  double y_range = 0.5 * (fabs(R(1, 0) * box[0]) + fabs(R(1, 1) * box[1]) + fabs(R(1, 2) * box[2]));
52  double z_range = 0.5 * (fabs(R(2, 0) * box[0]) + fabs(R(2, 1) * box[1]) + fabs(R(2, 2) * box[2]));
53 
54  const Eigen::Vector3d v_delta(x_range, y_range, z_range);
55  extend(T + v_delta);
56  extend(T - v_delta);
57 }
void extendWithTransformedBox(const Eigen::Affine3d &transform, const Eigen::Vector3d &box)
Extend with a box transformed by the given transform.
Definition: aabb.cpp:39


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Jun 12 2018 02:47:30