Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
bodies::Body Class Referenceabstract

A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed. More...

#include <bodies.h>

Inheritance diagram for bodies::Body:
Inheritance graph
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Public Member Functions

 Body ()
 
BodyPtr cloneAt (const Eigen::Isometry3d &pose) const
 Get a clone of this body, but one that is located at the pose pose. More...
 
virtual BodyPtr cloneAt (const Eigen::Isometry3d &pose, double padding, double scaling) const =0
 Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around. More...
 
virtual void computeBoundingBox (AABB &bbox) const =0
 Compute the axis-aligned bounding box for the body, in its current pose. Scaling and padding are accounted for. More...
 
virtual void computeBoundingCylinder (BoundingCylinder &cylinder) const =0
 Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for. More...
 
virtual void computeBoundingSphere (BoundingSphere &sphere) const =0
 Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for. More...
 
virtual double computeVolume () const =0
 Compute the volume of the body. This method includes changes induced by scaling and padding. More...
 
bool containsPoint (double x, double y, double z, bool verbose=false) const
 Check if a point is inside the body. More...
 
virtual bool containsPoint (const Eigen::Vector3d &p, bool verbose=false) const =0
 Check if a point is inside the body. Surface points are included. More...
 
virtual std::vector< double > getDimensions () const =0
 Get the dimensions associated to this body (as read from corresponding shape) More...
 
double getPadding () const
 Retrieve the current padding. More...
 
const Eigen::Isometry3d & getPose () const
 Retrieve the pose of the body. More...
 
double getScale () const
 Retrieve the current scale. More...
 
shapes::ShapeType getType () const
 Get the type of shape this body represents. More...
 
virtual bool intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=NULL, unsigned int count=0) const =0
 Check if a ray intersects the body, and find the set of intersections, in order, along the ray. A maximum number of intersections can be specified as well. If that number is 0, all intersections are returned. More...
 
virtual bool samplePointInside (random_numbers::RandomNumberGenerator &rng, unsigned int max_attempts, Eigen::Vector3d &result)
 Sample a point that is included in the body using a given random number generator. More...
 
void setDimensions (const shapes::Shape *shape)
 Set the dimensions of the body (from corresponding shape) More...
 
void setPadding (double padd)
 If constant padding should be added to the body, this method sets the padding. Default is 0.0. More...
 
void setPose (const Eigen::Isometry3d &pose)
 Set the pose of the body. Default is identity. More...
 
void setScale (double scale)
 If the dimension of the body should be scaled, this method sets the scale. Default is 1.0. More...
 
virtual ~Body ()
 

Protected Member Functions

virtual void updateInternalData ()=0
 This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date. More...
 
virtual void useDimensions (const shapes::Shape *shape)=0
 Depending on the shape, this function copies the relevant data to the body. More...
 

Protected Attributes

double padding_
 The scale that was set for this body. More...
 
Eigen::Isometry3d pose_
 The location of the body (position and orientation) More...
 
double scale_
 The scale that was set for this body. More...
 
shapes::ShapeType type_
 The type of shape this body was constructed from. More...
 

Detailed Description

A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed.

Definition at line 89 of file bodies.h.

Constructor & Destructor Documentation

◆ Body()

bodies::Body::Body ( )
inline

Definition at line 92 of file bodies.h.

◆ ~Body()

virtual bodies::Body::~Body ( )
inlinevirtual

Definition at line 97 of file bodies.h.

Member Function Documentation

◆ cloneAt() [1/2]

BodyPtr bodies::Body::cloneAt ( const Eigen::Isometry3d &  pose) const
inline

Get a clone of this body, but one that is located at the pose pose.

Definition at line 196 of file bodies.h.

◆ cloneAt() [2/2]

virtual BodyPtr bodies::Body::cloneAt ( const Eigen::Isometry3d &  pose,
double  padding,
double  scaling 
) const
pure virtual

Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeBoundingBox()

virtual void bodies::Body::computeBoundingBox ( AABB bbox) const
pure virtual

Compute the axis-aligned bounding box for the body, in its current pose. Scaling and padding are accounted for.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeBoundingCylinder()

virtual void bodies::Body::computeBoundingCylinder ( BoundingCylinder cylinder) const
pure virtual

Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeBoundingSphere()

virtual void bodies::Body::computeBoundingSphere ( BoundingSphere sphere) const
pure virtual

Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ computeVolume()

virtual double bodies::Body::computeVolume ( ) const
pure virtual

Compute the volume of the body. This method includes changes induced by scaling and padding.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ containsPoint() [1/2]

bool bodies::Body::containsPoint ( double  x,
double  y,
double  z,
bool  verbose = false 
) const
inline

Check if a point is inside the body.

Definition at line 155 of file bodies.h.

◆ containsPoint() [2/2]

virtual bool bodies::Body::containsPoint ( const Eigen::Vector3d &  p,
bool  verbose = false 
) const
pure virtual

Check if a point is inside the body. Surface points are included.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ getDimensions()

virtual std::vector<double> bodies::Body::getDimensions ( ) const
pure virtual

Get the dimensions associated to this body (as read from corresponding shape)

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ getPadding()

double bodies::Body::getPadding ( ) const
inline

Retrieve the current padding.

Definition at line 130 of file bodies.h.

◆ getPose()

const Eigen::Isometry3d& bodies::Body::getPose ( ) const
inline

Retrieve the pose of the body.

Definition at line 143 of file bodies.h.

◆ getScale()

double bodies::Body::getScale ( ) const
inline

Retrieve the current scale.

Definition at line 116 of file bodies.h.

◆ getType()

shapes::ShapeType bodies::Body::getType ( ) const
inline

Get the type of shape this body represents.

Definition at line 102 of file bodies.h.

◆ intersectsRay()

virtual bool bodies::Body::intersectsRay ( const Eigen::Vector3d &  origin,
const Eigen::Vector3d &  dir,
EigenSTL::vector_Vector3d intersections = NULL,
unsigned int  count = 0 
) const
pure virtual

Check if a ray intersects the body, and find the set of intersections, in order, along the ray. A maximum number of intersections can be specified as well. If that number is 0, all intersections are returned.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ samplePointInside()

bool bodies::Body::samplePointInside ( random_numbers::RandomNumberGenerator rng,
unsigned int  max_attempts,
Eigen::Vector3d &  result 
)
virtual

Sample a point that is included in the body using a given random number generator.

Sometimes multiple attempts need to be generated. The function terminates with failure (returns false) after max_attempts attempts. If the call is successful (returns true) the point is written to result

Reimplemented in bodies::Box, bodies::Cylinder, and bodies::Sphere.

Definition at line 115 of file bodies.cpp.

◆ setDimensions()

void bodies::Body::setDimensions ( const shapes::Shape shape)

Set the dimensions of the body (from corresponding shape)

Definition at line 109 of file bodies.cpp.

◆ setPadding()

void bodies::Body::setPadding ( double  padd)
inline

If constant padding should be added to the body, this method sets the padding. Default is 0.0.

Definition at line 123 of file bodies.h.

◆ setPose()

void bodies::Body::setPose ( const Eigen::Isometry3d &  pose)
inline

Set the pose of the body. Default is identity.

Definition at line 136 of file bodies.h.

◆ setScale()

void bodies::Body::setScale ( double  scale)
inline

If the dimension of the body should be scaled, this method sets the scale. Default is 1.0.

Definition at line 109 of file bodies.h.

◆ updateInternalData()

virtual void bodies::Body::updateInternalData ( )
protectedpure virtual

This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

◆ useDimensions()

virtual void bodies::Body::useDimensions ( const shapes::Shape shape)
protectedpure virtual

Depending on the shape, this function copies the relevant data to the body.

Implemented in bodies::ConvexMesh, bodies::Box, bodies::Cylinder, and bodies::Sphere.

Member Data Documentation

◆ padding_

double bodies::Body::padding_
protected

The scale that was set for this body.

Definition at line 220 of file bodies.h.

◆ pose_

Eigen::Isometry3d bodies::Body::pose_
protected

The location of the body (position and orientation)

Definition at line 226 of file bodies.h.

◆ scale_

double bodies::Body::scale_
protected

The scale that was set for this body.

Definition at line 217 of file bodies.h.

◆ type_

shapes::ShapeType bodies::Body::type_
protected

The type of shape this body was constructed from.

Definition at line 223 of file bodies.h.


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


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Wed Nov 20 2019 03:16:42