find_internal_points.cpp
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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 Wed Jul 18 2018 02:48:31