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). More...
Namespaces | |
| detail | |
Classes | |
| class | AABB |
| Represents an axis-aligned bounding box. More... | |
| class | Body |
| A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed. More... | |
| class | BodyVector |
| A vector of Body objects. More... | |
| struct | BoundingCylinder |
| Definition of a cylinder. More... | |
| struct | BoundingSphere |
| Definition of a sphere that bounds another object. More... | |
| class | Box |
| Definition of a box. More... | |
| class | ConvexMesh |
| Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More... | |
| class | Cylinder |
| Definition of a cylinder. More... | |
| class | OBB |
| Represents an oriented bounding box. More... | |
| class | OBBPrivate |
| class | Sphere |
| Definition of a sphere. More... | |
Typedefs | |
| typedef std::shared_ptr< const Body > | BodyConstPtr |
| Shared pointer to a const Body. More... | |
| typedef std::shared_ptr< Body > | BodyPtr |
| Shared pointer to a Body. More... | |
Functions | |
| void | computeBoundingSphere (const std::vector< const Body *> &bodies, BoundingSphere &mergedSphere) |
| Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere. More... | |
| Body * | constructBodyFromMsg (const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose) |
| Create a body from a given shape. More... | |
| Body * | constructBodyFromMsg (const shape_msgs::SolidPrimitive &shape, const geometry_msgs::Pose &pose) |
| Create a body from a given shape. More... | |
| Body * | constructBodyFromMsg (const shapes::ShapeMsg &shape, const geometry_msgs::Pose &pose) |
| Create a body from a given shape. More... | |
| template<typename T > | |
| Body * | constructBodyFromMsgHelper (const T &shape_msg, const geometry_msgs::Pose &pose) |
| void | constructMarkerFromBody (const bodies::Body *body, visualization_msgs::Marker &msg) |
| Construct a Marker message that corresponds to this (scaled and padded) body. More... | |
| shapes::ShapeConstPtr | constructShapeFromBody (const bodies::Body *body) |
| Get a shape that corresponds to this (scaled and padded) body. More... | |
| Body * | createBodyFromShape (const shapes::Shape *shape) |
| Create a body from a given shape. More... | |
| Body * | createEmptyBodyFromShapeType (const shapes::ShapeType &shapeType) |
| Create a body from a given shape. More... | |
| Eigen::Vector3d | fromFcl (const FCL_Vec3 &fclVec) |
| void | mergeBoundingBoxes (const std::vector< AABB > &boxes, AABB &mergedBox) |
| Compute an axis-aligned bounding box to enclose a set of bounding boxes. More... | |
| void | mergeBoundingBoxesApprox (const std::vector< OBB > &boxes, OBB &mergedBox) |
| Compute an approximate oriented bounding box to enclose a set of bounding boxes. More... | |
| void | mergeBoundingSpheres (const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere) |
| Compute a bounding sphere to enclose a set of bounding spheres. More... | |
| Eigen::Vector3d | normalize (const Eigen::Vector3d &dir) |
| FCL_Vec3 | toFcl (const Eigen::Vector3d &eigenVec) |
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).
| typedef std::shared_ptr< const Body > bodies::BodyConstPtr |
| typedef std::shared_ptr< Body > bodies::BodyPtr |
| void bodies::computeBoundingSphere | ( | const std::vector< const Body *> & | bodies, |
| BoundingSphere & | mergedSphere | ||
| ) |
Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere.
| bodies::Body * bodies::constructBodyFromMsg | ( | const shape_msgs::Mesh & | shape, |
| const geometry_msgs::Pose & | pose | ||
| ) |
Create a body from a given shape.
Definition at line 212 of file body_operations.cpp.
| bodies::Body * bodies::constructBodyFromMsg | ( | const shape_msgs::SolidPrimitive & | shape, |
| const geometry_msgs::Pose & | pose | ||
| ) |
Create a body from a given shape.
Definition at line 217 of file body_operations.cpp.
| bodies::Body * bodies::constructBodyFromMsg | ( | const shapes::ShapeMsg & | shape, |
| const geometry_msgs::Pose & | pose | ||
| ) |
Create a body from a given shape.
Definition at line 207 of file body_operations.cpp.
| Body* bodies::constructBodyFromMsgHelper | ( | const T & | shape_msg, |
| const geometry_msgs::Pose & | pose | ||
| ) |
Definition at line 181 of file body_operations.cpp.
| void bodies::constructMarkerFromBody | ( | const bodies::Body * | body, |
| visualization_msgs::Marker & | msg | ||
| ) |
Construct a Marker message that corresponds to this (scaled and padded) body.
Definition at line 130 of file body_operations.cpp.
| shapes::ShapeConstPtr bodies::constructShapeFromBody | ( | const bodies::Body * | body | ) |
Get a shape that corresponds to this (scaled and padded) body.
Definition at line 81 of file body_operations.cpp.
| bodies::Body * bodies::createBodyFromShape | ( | const shapes::Shape * | shape | ) |
Create a body from a given shape.
Definition at line 68 of file body_operations.cpp.
| bodies::Body * bodies::createEmptyBodyFromShapeType | ( | const shapes::ShapeType & | shapeType | ) |
Create a body from a given shape.
Definition at line 43 of file body_operations.cpp.
Compute an axis-aligned bounding box to enclose a set of bounding boxes.
Compute an approximate oriented bounding box to enclose a set of bounding boxes.
| void bodies::mergeBoundingSpheres | ( | const std::vector< BoundingSphere > & | spheres, |
| BoundingSphere & | mergedSphere | ||
| ) |
Compute a bounding sphere to enclose a set of bounding spheres.
Definition at line 147 of file body_operations.cpp.
|
inline |
Definition at line 151 of file bodies.cpp.