VirtualRobot::BoundingBox Class Reference

Public Member Functions
	BoundingBox ()
	BoundingBox (const std::vector< Eigen::Vector3f > &p)
bool	planeGoesThrough (const VirtualRobot::MathTools::Plane &p)
std::vector< Eigen::Vector3f >	getPoints () const
void	print ()
	Print some info. More...
void	addPoints (const std::vector< Eigen::Vector3f > &p)
void	addPoints (const BoundingBox &bbox)
void	addPoint (const Eigen::Vector3f &p)
Eigen::Vector3f	getMin () const
	The axis oriented minimum value. More...
Eigen::Vector3f	getMax () const
	The axis oriented maximum value. More...
void	clear ()
	set min/max to NAN. More...
void	transform (Eigen::Matrix4f &pose)
void	scale (const Eigen::Vector3f &scaleFactor)
std::string	toXML (int tabs=2, bool skipMatrixTag=false)
bool	isInside (Eigen::Vector3f point) const
	isInside Checks whether the given point lies within the bounding box. The given vector can contain entries that are none, if this is the case the respective dimension is ignored and the point is only tested for the remaining non-nan dimensions. More...

Protected Attributes
Eigen::Vector3f	min
Eigen::Vector3f	max

Friends
class	CollisionChecker

Detailed Description

An axis oriented bounding box. Todo: Some parts of this class are similar to MathTools::OOBB.

Constructor & Destructor Documentation

BoundingBox() [1/2]

VirtualRobot::BoundingBox::BoundingBox

(

)

BoundingBox() [2/2]

VirtualRobot::BoundingBox::BoundingBox

(

const std::vector< Eigen::Vector3f > &

p

)

Member Function Documentation

addPoint()

void VirtualRobot::BoundingBox::addPoint

(

const Eigen::Vector3f &

p

)

Consider this point for min/max calculation

addPoints() [1/2]

void VirtualRobot::BoundingBox::addPoints

(

const std::vector< Eigen::Vector3f > &

p

)

Consider these points for min/max calculation

addPoints() [2/2]

void VirtualRobot::BoundingBox::addPoints

(

const BoundingBox &

bbox

)

Consider these points for min/max calculation

clear()

void VirtualRobot::BoundingBox::clear

(

)

set min/max to NAN.

getMax()

Eigen::Vector3f VirtualRobot::BoundingBox::getMax

(

)

const

The axis oriented maximum value.

getMin()

Eigen::Vector3f VirtualRobot::BoundingBox::getMin

(

)

const

The axis oriented minimum value.

getPoints()

std::vector< Eigen::Vector3f > VirtualRobot::BoundingBox::getPoints

(

)

const

Returns 8 points that define the bounding box

isInside()

bool VirtualRobot::BoundingBox::isInside

(

Eigen::Vector3f

point

)

const

isInside Checks whether the given point lies within the bounding box. The given vector can contain entries that are none, if this is the case the respective dimension is ignored and the point is only tested for the remaining non-nan dimensions.

Parameters

point

the point to test

Returns

True if the point lies within the bounding box. False if not.

planeGoesThrough()

bool VirtualRobot::BoundingBox::planeGoesThrough

(

const VirtualRobot::MathTools::Plane &

p

)

Returns true, if plane "hits" this bounding box.

print()

void VirtualRobot::BoundingBox::print

(

)

Print some info.

scale()

void VirtualRobot::BoundingBox::scale

(

const Eigen::Vector3f &

scaleFactor

)

toXML()

std::string VirtualRobot::BoundingBox::toXML	(	int	tabs = 2,
		bool	skipMatrixTag = false
	)

transform()

void VirtualRobot::BoundingBox::transform

(

Eigen::Matrix4f &

pose

)

Applies transformation to this bbox. Reorders min and max values according to pose.

Friends And Related Function Documentation

CollisionChecker

friend class CollisionChecker

friend

Field Documentation

max

Eigen::Vector3f VirtualRobot::BoundingBox::max

protected

min

Eigen::Vector3f VirtualRobot::BoundingBox::min

protected