VirtualRobot::MathTools::OOBB Struct Reference

Public Member Functions
	OOBB ()
	OOBB (const Eigen::Vector3f &minLocal, const Eigen::Vector3f &maxLocal, const Eigen::Matrix4f &globalPose)
std::vector< Eigen::Vector3f >	getOOBBPoints () const
	Returns the 8 bounding box points transformed to global frame. More...
std::vector< Segment >	getSegments () const
	Returns the 12 segments of the bounding box (in global frame) More...
void	changeCoordSystem (const Eigen::Matrix4f &newGlobalPose)

Data Fields
Eigen::Vector3f	minBB
Eigen::Vector3f	maxBB
Eigen::Matrix4f	pose

Constructor & Destructor Documentation

OOBB() [1/2]

VirtualRobot::MathTools::OOBB::OOBB

(

)

OOBB() [2/2]

VirtualRobot::MathTools::OOBB::OOBB	(	const Eigen::Vector3f &	minLocal,
		const Eigen::Vector3f &	maxLocal,
		const Eigen::Matrix4f &	globalPose
	)

Member Function Documentation

changeCoordSystem()

void VirtualRobot::MathTools::OOBB::changeCoordSystem

(

const Eigen::Matrix4f &

newGlobalPose

)

getOOBBPoints()

std::vector< Eigen::Vector3f > VirtualRobot::MathTools::OOBB::getOOBBPoints

(

)

const

Returns the 8 bounding box points transformed to global frame.

getSegments()

std::vector< MathTools::Segment > VirtualRobot::MathTools::OOBB::getSegments

(

)

const

Returns the 12 segments of the bounding box (in global frame)

Field Documentation

maxBB

Eigen::Vector3f VirtualRobot::MathTools::OOBB::maxBB

minBB

Eigen::Vector3f VirtualRobot::MathTools::OOBB::minBB

pose

Eigen::Matrix4f VirtualRobot::MathTools::OOBB::pose