find_internal_points.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2013, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Acorn Pooley */
36 
38 
41 {
43  body.computeBoundingSphere(sphere);
44  double xval_s = std::floor((sphere.center.x() - sphere.radius - resolution) / resolution) * resolution;
45  double yval_s = std::floor((sphere.center.y() - sphere.radius - resolution) / resolution) * resolution;
46  double zval_s = std::floor((sphere.center.z() - sphere.radius - resolution) / resolution) * resolution;
47  double xval_e = sphere.center.x() + sphere.radius + resolution;
48  double yval_e = sphere.center.y() + sphere.radius + resolution;
49  double zval_e = sphere.center.z() + sphere.radius + resolution;
50  Eigen::Vector3d pt;
51  for (pt.x() = xval_s; pt.x() <= xval_e; pt.x() += resolution)
52  {
53  for (pt.y() = yval_s; pt.y() <= yval_e; pt.y() += resolution)
54  {
55  for (pt.z() = zval_s; pt.z() <= zval_e; pt.z() += resolution)
56  {
57  if (body.containsPoint(pt))
58  {
59  points.push_back(pt);
60  }
61  }
62  }
63  }
64 }
std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > vector_Vector3d
bool containsPoint(double x, double y, double z, bool verbose=false) const
Eigen::Vector3d center
static const double resolution
virtual void computeBoundingSphere(BoundingSphere &sphere) const =0
void findInternalPointsConvex(const bodies::Body &body, double resolution, EigenSTL::vector_Vector3d &points)
Find all points on a regular grid that are internal to the body, assuming the body is a convex shape...


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 18 2020 13:16:33