Class Box

Defined in File bodies.h

Inheritance Relationships

Base Type

public bodies::Body (Class Body)

Class Documentation

class Box : public bodies::Body 

Definition of a box.

Public Functions

inline Box()

inline Box(const shapes::Shape *shape)

explicit Box(const AABB &aabb)

~Box() override = default

virtual std::vector<double> getDimensions() const override: Get the length & width & height (x, y, z) of the box.

virtual std::vector<double> getScaledDimensions() const override: Get the dimensions associated to this body (scaled and padded)

virtual bool containsPoint(const Eigen::Vector3d &p, bool verbose = false) const override: Check if a point is inside the body. Surface points are included.

virtual double computeVolume() const override: Compute the volume of the body. This method includes changes induced by scaling and padding.

virtual 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.

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

virtual void computeBoundingSphere(BoundingSphere &sphere) const override: Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.

virtual void computeBoundingCylinder(BoundingCylinder &cylinder) const override: Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.

virtual 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.

virtual void computeBoundingBox(OBB &bbox) const override: Compute the oriented bounding box for the body, in its current pose. Scaling and padding are accounted for.

virtual 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.

virtual 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.

virtual 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.

Protected Functions

virtual void useDimensions(const shapes::Shape *shape) override: Depending on the shape, this function copies the relevant data to the body.

Protected Attributes

double length_

double width_

double height_

Eigen::Vector3d center_

Eigen::Matrix3d invRot_

Eigen::Vector3d minCorner_: The translated, but not rotated min corner.

Eigen::Vector3d maxCorner_: The translated, but not rotated max corner.

double length2_

double width2_

double height2_

double radiusB_

double radius2_