bodies.h File Reference

`#include "geometric_shapes/aabb.h"`

`#include "geometric_shapes/shapes.h"`

`#include <eigen_stl_containers/eigen_stl_containers.h>`

`#include <random_numbers/random_numbers.h>`

`#include <Eigen/Core>`

`#include <Eigen/Geometry>`

`#include <memory>`

`#include <vector>`

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## Classes | |

class | bodies::Body |

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

class | bodies::BodyVector |

A vector of Body objects. More... | |

struct | bodies::BoundingCylinder |

Definition of a cylinder. More... | |

struct | bodies::BoundingSphere |

Definition of a sphere that bounds another object. More... | |

class | bodies::Box |

Definition of a box. More... | |

class | bodies::ConvexMesh |

Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More... | |

class | bodies::Cylinder |

Definition of a cylinder. More... | |

class | bodies::Sphere |

Definition of a sphere. More... | |

## Namespaces | |

bodies | |

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). | |

## Typedefs | |

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

Shared pointer to a const Body. More... | |

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

Shared pointer to a Body. More... | |