Namespaces | Classes | Typedefs | Functions
bodies Namespace Reference

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  Sphere
 Definition of a sphere. More...
 

Typedefs

typedef std::shared_ptr< const BodyBodyConstPtr
 Shared pointer to a const Body. More...
 
typedef std::shared_ptr< BodyBodyPtr
 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...
 
BodyconstructBodyFromMsg (const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose)
 Create a body from a given shape. More...
 
BodyconstructBodyFromMsg (const shape_msgs::SolidPrimitive &shape, const geometry_msgs::Pose &pose)
 Create a body from a given shape. More...
 
BodyconstructBodyFromMsg (const shapes::ShapeMsg &shape, const geometry_msgs::Pose &pose)
 Create a body from a given shape. More...
 
template<typename T >
BodyconstructBodyFromMsgHelper (const T &shape_msg, const geometry_msgs::Pose &pose)
 
BodycreateBodyFromShape (const shapes::Shape *shape)
 Create a body from a given shape. More...
 
void mergeBoundingBoxes (const std::vector< AABB > &boxes, AABB &mergedBox)
 Compute an axis-aligned 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...
 

Detailed Description

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 Documentation

◆ BodyConstPtr

typedef std::shared_ptr< const Body > bodies::BodyConstPtr

Shared pointer to a const Body.

Definition at line 84 of file bodies.h.

◆ BodyPtr

typedef std::shared_ptr< Body > bodies::BodyPtr

Shared pointer to a Body.

Definition at line 78 of file bodies.h.

Function Documentation

◆ computeBoundingSphere()

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.

◆ constructBodyFromMsg() [1/3]

bodies::Body * bodies::constructBodyFromMsg ( const shape_msgs::Mesh &  shape,
const geometry_msgs::Pose &  pose 
)

Create a body from a given shape.

Definition at line 132 of file body_operations.cpp.

◆ constructBodyFromMsg() [2/3]

bodies::Body * bodies::constructBodyFromMsg ( const shape_msgs::SolidPrimitive &  shape,
const geometry_msgs::Pose &  pose 
)

Create a body from a given shape.

Definition at line 137 of file body_operations.cpp.

◆ constructBodyFromMsg() [3/3]

bodies::Body * bodies::constructBodyFromMsg ( const shapes::ShapeMsg shape,
const geometry_msgs::Pose &  pose 
)

Create a body from a given shape.

Definition at line 127 of file body_operations.cpp.

◆ constructBodyFromMsgHelper()

template<typename T >
Body* bodies::constructBodyFromMsgHelper ( const T &  shape_msg,
const geometry_msgs::Pose &  pose 
)

Definition at line 103 of file body_operations.cpp.

◆ createBodyFromShape()

bodies::Body * bodies::createBodyFromShape ( const shapes::Shape shape)

Create a body from a given shape.

Author
Ioan Sucan, E. Gil Jones

Definition at line 42 of file body_operations.cpp.

◆ mergeBoundingBoxes()

void bodies::mergeBoundingBoxes ( const std::vector< AABB > &  boxes,
AABB mergedBox 
)

Compute an axis-aligned bounding box to enclose a set of bounding boxes.

◆ mergeBoundingSpheres()

void bodies::mergeBoundingSpheres ( const std::vector< BoundingSphere > &  spheres,
BoundingSphere mergedSphere 
)

Compute a bounding sphere to enclose a set of bounding spheres.

Definition at line 69 of file body_operations.cpp.



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