Definition of a cylinder. More...

#include <bodies.h>

Inheritance diagram for bodies::Cylinder:

Public Member Functions
BodyPtr	cloneAt (const Eigen::Isometry3d &pose, double padding, double scale) const override
	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...

void	computeBoundingBox (AABB &bbox) const override
	Compute the axis-aligned bounding box for the body, in its current pose. Scaling and padding are accounted for. More...

void	computeBoundingBox (OBB &bbox) const override
	Compute the oriented bounding box for the body, in its current pose. Scaling and padding are accounted for. More...

void	computeBoundingCylinder (BoundingCylinder &cylinder) const override
	Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for. More...

void	computeBoundingSphere (BoundingSphere &sphere) const override
	Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for. More...

double	computeVolume () const override
	Compute the volume of the body. This method includes changes induced by scaling and padding. More...

bool	containsPoint (const Eigen::Vector3d &p, bool verbose=false) const override
	Check if a point is inside the body. Surface points are included. More...

	Cylinder ()

	Cylinder (const shapes::Shape *shape)

	Cylinder (const BoundingCylinder &cylinder)

std::vector< double >	getDimensions () const override
	Get the radius & length of the cylinder. More...

std::vector< double >	getScaledDimensions () const override
	Get the dimensions associated to this body (scaled and padded) More...

bool	intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=nullptr, unsigned int count=0) const override
	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. Passing dir as a unit vector will result in faster computation. More...

bool	samplePointInside (random_numbers::RandomNumberGenerator &rng, unsigned int max_attempts, Eigen::Vector3d &result) const override
	Sample a point that is included in the body using a given random number generator. More...

void	updateInternalData () override
	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...

	~Cylinder () override

Public Member Functions inherited from bodies::Body
	Body ()

BodyPtr	cloneAt (const Eigen::Isometry3d &pose) const
	Get a clone of this body, but one that is located at the pose pose. More...

bool	containsPoint (double x, double y, double z, bool verbose=false) const
	Check if a point is inside the body. 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...

void	setDimensions (const shapes::Shape *shape)
	Set the dimensions of the body (from corresponding shape) More...

void	setDimensionsDirty (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	setPaddingDirty (double padd)
	If the dimension of the body should be padded, this method sets the pading. More...

void	setPose (const Eigen::Isometry3d &pose)
	Set the pose of the body. Default is identity. More...

void	setPoseDirty (const Eigen::Isometry3d &pose)
	Set the pose of the body. More...

void	setScale (double scale)
	If the dimension of the body should be scaled, this method sets the scale. Default is 1.0. More...

void	setScaleDirty (double scale)
	If the dimension of the body should be scaled, this method sets the scale. More...

virtual	~Body ()

Protected Member Functions
void	useDimensions (const shapes::Shape *shape) override
	Depending on the shape, this function copies the relevant data to the body. More...

Protected Attributes
Eigen::Vector3d	center_

double	d1_

double	d2_

double	length2_

double	length_

Eigen::Vector3d	normalB1_

Eigen::Vector3d	normalB2_

Eigen::Vector3d	normalH_

double	radius2_

double	radius_

double	radiusB_

double	radiusBSqr_

double	radiusU_

Protected Attributes inherited from bodies::Body
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

Definition of a cylinder.

Definition at line 357 of file bodies.h.

Constructor & Destructor Documentation

◆ Cylinder() [1/3]

bodies::Cylinder::Cylinder ( )

inline

Definition at line 360 of file bodies.h.

◆ Cylinder() [2/3]

bodies::Cylinder::Cylinder ( const shapes::Shape * shape )

inline

Definition at line 365 of file bodies.h.

◆ Cylinder() [3/3]

bodies::Cylinder::Cylinder ( const BoundingCylinder & cylinder )

inlineexplicit

Definition at line 371 of file bodies.h.

◆ ~Cylinder()

bodies::Cylinder::~Cylinder ( )

inlineoverride

Definition at line 379 of file bodies.h.

Member Function Documentation

◆ cloneAt()

std::shared_ptr< bodies::Body > bodies::Cylinder::cloneAt	(	const Eigen::Isometry3d &	pose,
		double	padding,
		double	scaling
	)		const

overridevirtual

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.

Implements bodies::Body.

Definition at line 425 of file bodies.cpp.

◆ computeBoundingBox() [1/2]

void bodies::Cylinder::computeBoundingBox ( AABB & bbox ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 456 of file bodies.cpp.

◆ computeBoundingBox() [2/2]

void bodies::Cylinder::computeBoundingBox ( OBB & bbox ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 473 of file bodies.cpp.

◆ computeBoundingCylinder()

void bodies::Cylinder::computeBoundingCylinder ( BoundingCylinder & cylinder ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 449 of file bodies.cpp.

◆ computeBoundingSphere()

void bodies::Cylinder::computeBoundingSphere ( BoundingSphere & sphere ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 443 of file bodies.cpp.

◆ computeVolume()

double bodies::Cylinder::computeVolume ( ) const

overridevirtual

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

Implements bodies::Body.

Definition at line 438 of file bodies.cpp.

◆ containsPoint()

bool bodies::Cylinder::containsPoint	(	const Eigen::Vector3d &	p,
		bool	verbose = `false`
	)		const

overridevirtual

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

Implements bodies::Body.

Definition at line 347 of file bodies.cpp.

◆ getDimensions()

std::vector< double > bodies::Cylinder::getDimensions ( ) const

overridevirtual

Get the radius & length of the cylinder.

Implements bodies::Body.

Definition at line 373 of file bodies.cpp.

◆ getScaledDimensions()

std::vector< double > bodies::Cylinder::getScaledDimensions ( ) const

overridevirtual

Get the dimensions associated to this body (scaled and padded)

Implements bodies::Body.

Definition at line 378 of file bodies.cpp.

◆ intersectsRay()

bool bodies::Cylinder::intersectsRay	(	const Eigen::Vector3d &	origin,
		const Eigen::Vector3d &	dir,
		EigenSTL::vector_Vector3d *	intersections = `nullptr`,
		unsigned int	count = `0`
	)		const

overridevirtual

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. Passing dir as a unit vector will result in faster computation.

Implements bodies::Body.

Definition at line 478 of file bodies.cpp.

◆ samplePointInside()

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

overridevirtual

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 from bodies::Body.

Definition at line 409 of file bodies.cpp.

◆ updateInternalData()

void bodies::Cylinder::updateInternalData ( )

overridevirtual

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.

Implements bodies::Body.

Definition at line 383 of file bodies.cpp.

◆ useDimensions()

void bodies::Cylinder::useDimensions ( const shapes::Shape * shape )

overrideprotectedvirtual

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

Implements bodies::Body.

Definition at line 367 of file bodies.cpp.

Member Data Documentation

◆ center_

Eigen::Vector3d bodies::Cylinder::center_

protected

Definition at line 410 of file bodies.h.

◆ d1_

double bodies::Cylinder::d1_

protected

Definition at line 420 of file bodies.h.

◆ d2_

double bodies::Cylinder::d2_

protected

Definition at line 421 of file bodies.h.

◆ length2_

double bodies::Cylinder::length2_

protected

Definition at line 415 of file bodies.h.

◆ length_

double bodies::Cylinder::length_

protected

Definition at line 406 of file bodies.h.

◆ normalB1_

Eigen::Vector3d bodies::Cylinder::normalB1_

protected

Definition at line 412 of file bodies.h.

◆ normalB2_

Eigen::Vector3d bodies::Cylinder::normalB2_

protected

Definition at line 413 of file bodies.h.

◆ normalH_

Eigen::Vector3d bodies::Cylinder::normalH_

protected

Definition at line 411 of file bodies.h.

◆ radius2_

double bodies::Cylinder::radius2_

protected

Definition at line 419 of file bodies.h.

◆ radius_

double bodies::Cylinder::radius_

protected

Definition at line 407 of file bodies.h.

◆ radiusB_

double bodies::Cylinder::radiusB_

protected

Definition at line 417 of file bodies.h.

◆ radiusBSqr_

double bodies::Cylinder::radiusBSqr_

protected

Definition at line 418 of file bodies.h.

◆ radiusU_

double bodies::Cylinder::radiusU_

protected

Definition at line 416 of file bodies.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Cylinder() [1/3]

◆ Cylinder() [2/3]

◆ Cylinder() [3/3]

◆ ~Cylinder()

Member Function Documentation

◆ cloneAt()

◆ computeBoundingBox() [1/2]

◆ computeBoundingBox() [2/2]

◆ computeBoundingCylinder()

◆ computeBoundingSphere()

◆ computeVolume()

◆ containsPoint()

◆ getDimensions()

◆ getScaledDimensions()

◆ intersectsRay()

◆ samplePointInside()

◆ updateInternalData()

◆ useDimensions()

Member Data Documentation

◆ center_

◆ d1_

◆ d2_

◆ length2_

◆ length_

◆ normalB1_

◆ normalB2_

◆ normalH_

◆ radius2_

◆ radius_

◆ radiusB_

◆ radiusBSqr_

◆ radiusU_