Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
bodies::Sphere Class Reference

Definition of a sphere. More...

#include <bodies.h>

Inheritance diagram for bodies::Sphere:
Inheritance graph
[legend]

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 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...
 
std::vector< double > getDimensions () const override
 Get the radius of the sphere. 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...
 
 Sphere ()
 
 Sphere (const BoundingSphere &sphere)
 
 Sphere (const shapes::Shape *shape)
 
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...
 
 ~Sphere () override=default
 
- 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 ()=default
 

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 radius2_
 
double radius_
 
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 sphere.

Definition at line 322 of file bodies.h.

Constructor & Destructor Documentation

◆ Sphere() [1/3]

bodies::Sphere::Sphere ( )
inline

Definition at line 325 of file bodies.h.

◆ Sphere() [2/3]

bodies::Sphere::Sphere ( const shapes::Shape shape)
inline

Definition at line 330 of file bodies.h.

◆ Sphere() [3/3]

bodies::Sphere::Sphere ( const BoundingSphere sphere)
explicit

Definition at line 299 of file bodies.cpp.

◆ ~Sphere()

bodies::Sphere::~Sphere ( )
overridedefault

Member Function Documentation

◆ cloneAt()

std::shared_ptr< bodies::Body > bodies::Sphere::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 175 of file bodies.cpp.

◆ computeBoundingBox()

void bodies::Sphere::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 204 of file bodies.cpp.

◆ computeBoundingCylinder()

void bodies::Sphere::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 197 of file bodies.cpp.

◆ computeBoundingSphere()

void bodies::Sphere::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 191 of file bodies.cpp.

◆ computeVolume()

double bodies::Sphere::computeVolume ( ) const
overridevirtual

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

Implements bodies::Body.

Definition at line 186 of file bodies.cpp.

◆ containsPoint()

bool bodies::Sphere::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 145 of file bodies.cpp.

◆ getDimensions()

std::vector< double > bodies::Sphere::getDimensions ( ) const
overridevirtual

Get the radius of the sphere.

Implements bodies::Body.

Definition at line 155 of file bodies.cpp.

◆ getScaledDimensions()

std::vector< double > bodies::Sphere::getScaledDimensions ( ) const
overridevirtual

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

Implements bodies::Body.

Definition at line 160 of file bodies.cpp.

◆ intersectsRay()

bool bodies::Sphere::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 238 of file bodies.cpp.

◆ samplePointInside()

bool bodies::Sphere::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 215 of file bodies.cpp.

◆ updateInternalData()

void bodies::Sphere::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 165 of file bodies.cpp.

◆ useDimensions()

void bodies::Sphere::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 150 of file bodies.cpp.

Member Data Documentation

◆ center_

Eigen::Vector3d bodies::Sphere::center_
protected

Definition at line 365 of file bodies.h.

◆ radius2_

double bodies::Sphere::radius2_
protected

Definition at line 367 of file bodies.h.

◆ radius_

double bodies::Sphere::radius_
protected

Definition at line 362 of file bodies.h.

◆ radiusU_

double bodies::Sphere::radiusU_
protected

Definition at line 366 of file bodies.h.


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


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Sun Aug 22 2021 02:42:26