A vector of Body objects. More...

#include <bodies.h>

Public Member Functions
void	addBody (Body *body)
	Add a body. More...

void	addBody (const shapes::Shape *shape, const Eigen::Isometry3d &pose, double padding=0.0)
	Add a body from a shape, a pose for the body and a padding. More...

	BodyVector ()

	BodyVector (const std::vector< shapes::Shape *> &shapes, const EigenSTL::vector_Isometry3d &poses, double padding=0.0)
	Construct a body vector from a vector of shapes, a vector of poses and a padding. More...

void	clear ()
	Clear all bodies from the vector. More...

bool	containsPoint (const Eigen::Vector3d &p, bool verbose=false) const
	Check if any body in the vector contains the input point. More...

bool	containsPoint (const Eigen::Vector3d &p, std::size_t &index, bool verbose=false) const
	Check if any body contains the input point, and report the first body's index if so. More...

const Body *	getBody (unsigned int i) const
	Get the i^th body in the vector. More...

std::size_t	getCount () const
	Get the number of bodies in this vector. More...

bool	intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, std::size_t &index, EigenSTL::vector_Vector3d *intersections=nullptr, unsigned int count=0) const
	Check if any of the bodies intersects the ray defined by origin and dir. When the first intersection is found, this function terminates. The index of the body that does intersect the ray is set to index (unset if no intersections were found). Optionally, the intersection points are computed and set to intersections (only for the first body that is found to intersect the ray) More...

void	setPose (unsigned int i, const Eigen::Isometry3d &pose)
	Set the pose of a particular body in the vector of bodies. More...

	~BodyVector ()

Private Attributes
std::vector< Body * >	bodies_

Detailed Description

A vector of Body objects.

Definition at line 611 of file bodies.h.

Constructor & Destructor Documentation

◆ BodyVector() [1/2]

bodies::BodyVector::BodyVector ( )

Definition at line 1336 of file bodies.cpp.

◆ BodyVector() [2/2]

bodies::BodyVector::BodyVector	(	const std::vector< shapes::Shape *> &	shapes,
		const EigenSTL::vector_Isometry3d &	poses,
		double	padding = `0.0`
	)

Construct a body vector from a vector of shapes, a vector of poses and a padding.

Definition at line 1340 of file bodies.cpp.

◆ ~BodyVector()

bodies::BodyVector::~BodyVector ( )

Definition at line 1347 of file bodies.cpp.

Member Function Documentation

◆ addBody() [1/2]

void bodies::BodyVector::addBody ( Body * body )

Add a body.

Definition at line 1359 of file bodies.cpp.

◆ addBody() [2/2]

void bodies::BodyVector::addBody	(	const shapes::Shape *	shape,
		const Eigen::Isometry3d &	pose,
		double	padding = `0.0`
	)

Add a body from a shape, a pose for the body and a padding.

Definition at line 1366 of file bodies.cpp.

◆ clear()

void bodies::BodyVector::clear ( )

Clear all bodies from the vector.

Definition at line 1352 of file bodies.cpp.

◆ containsPoint() [1/2]

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

Check if any body in the vector contains the input point.

Definition at line 1413 of file bodies.cpp.

◆ containsPoint() [2/2]

bool bodies::BodyVector::containsPoint	(	const Eigen::Vector3d &	p,
		std::size_t &	index,
		bool	verbose = `false`
	)		const

Check if any body contains the input point, and report the first body's index if so.

Definition at line 1402 of file bodies.cpp.

◆ getBody()

const bodies::Body * bodies::BodyVector::getBody ( unsigned int i ) const

Get the i^th body in the vector.

Definition at line 1391 of file bodies.cpp.

◆ getCount()

std::size_t bodies::BodyVector::getCount ( ) const

Get the number of bodies in this vector.

Definition at line 1375 of file bodies.cpp.

◆ intersectsRay()

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

Check if any of the bodies intersects the ray defined by origin and dir. When the first intersection is found, this function terminates. The index of the body that does intersect the ray is set to index (unset if no intersections were found). Optionally, the intersection points are computed and set to intersections (only for the first body that is found to intersect the ray)

Definition at line 1419 of file bodies.cpp.

◆ setPose()

void bodies::BodyVector::setPose	(	unsigned int	i,
		const Eigen::Isometry3d &	pose
	)

Set the pose of a particular body in the vector of bodies.

Definition at line 1380 of file bodies.cpp.

Member Data Documentation

◆ bodies_

std::vector<Body*> bodies::BodyVector::bodies_

private

Definition at line 654 of file bodies.h.

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

Public Member Functions

Private Attributes