Classes | Namespaces | Functions | Variables
bodies.cpp File Reference
#include "geometric_shapes/bodies.h"
#include "geometric_shapes/body_operations.h"
#include "geometric_shapes/check_isometry.h"
#include <console_bridge/console.h>
#include <qhull/qhull.h>
#include <qhull/mem.h>
#include <qhull/qset.h>
#include <qhull/geom.h>
#include <qhull/merge.h>
#include <qhull/poly.h>
#include <qhull/io.h>
#include <qhull/stat.h>
#include <boost/math/constants/constants.hpp>
#include <limits>
#include <cstdio>
#include <cmath>
#include <algorithm>
#include <Eigen/Geometry>
#include <unordered_map>
#include <mutex>
Include dependency graph for bodies.cpp:

Go to the source code of this file.

Classes

struct  bodies::detail::intersc
 
struct  bodies::detail::interscOrder
 

Namespaces

 bodies
 This set of classes allows quickly detecting whether a given point is inside an object or not. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example).
 
 bodies::detail
 

Functions

static double bodies::detail::distanceSQR (const Eigen::Vector3d &p, const Eigen::Vector3d &origin, const Eigen::Vector3d &dir)
 Compute the square of the distance between a ray and a point Note: this requires 'dir' to be normalized. More...
 
void bodies::detail::filterIntersections (std::vector< detail::intersc > &ipts, EigenSTL::vector_Vector3d *intersections, const size_t count)
 Take intersections points in ipts and add them to intersections, filtering duplicates. More...
 
static std::map< size_t, size_t > & bodies::detail::getTriangleForPlane (const ConvexMesh *mesh)
 
Eigen::Vector3d bodies::normalize (const Eigen::Vector3d &dir)
 

Variables

std::unordered_map< const ConvexMesh *, std::map< size_t, size_t > > bodies::detail::g_triangle_for_plane_
 
std::mutex bodies::detail::g_triangle_for_plane_mutex
 Lock this mutex every time you work with g_triangle_for_plane_. More...
 
static const double bodies::detail::ZERO = 1e-9
 


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Wed Sep 2 2020 03:15:00