simox::AxisAlignedBoundingBox Struct Reference

An axis-aligned (bounding-)box, defined by its limits in x-, y- and z- direction. More...

Public Member Functions
	AxisAlignedBoundingBox ()
	Construct an empty AABB centered at (0, 0, 0) with extents (0, 0, 0). More...
	AxisAlignedBoundingBox (const Eigen::Vector3f &min, const Eigen::Vector3f &max)
	Construct an AABB with minimal and maximal values. More...
	AxisAlignedBoundingBox (const Eigen::Vector2f &limits_x, const Eigen::Vector2f &limits_y, const Eigen::Vector2f &limits_z)
	Construct an AABB with axis-wise limits. More...
	AxisAlignedBoundingBox (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max)
	Construct an AABB with given limits. More...
	AxisAlignedBoundingBox (const Eigen::Matrix32f &limits)
	Construct an AABB with limits in a 3x2 matrix. More...
Eigen::Matrix32f	limits () const
Eigen::Matrix32f &	limits ()
void	set_limits (const Eigen::Matrix32f &value)
Eigen::Vector3f	min () const
Eigen::Matrix32f::ColXpr	min ()
void	set_min (const Eigen::Vector3f &value)
Eigen::Vector3f	max () const
Eigen::Matrix32f::ColXpr	max ()
void	set_max (const Eigen::Vector3f &value)
Eigen::Vector3f	center () const
void	set_center (const Eigen::Vector3f &value)
Eigen::Vector3f	extents () const
void	set_extents (const Eigen::Vector3f &value)
Eigen::Vector2f	limits_x () const
Eigen::Matrix32f::RowXpr	limits_x ()
void	set_limits_x (const Eigen::Vector2f &value)
Eigen::Vector2f	limits_y () const
Eigen::Matrix32f::RowXpr	limits_y ()
void	set_limits_y (const Eigen::Vector2f &value)
Eigen::Vector2f	limits_z () const
Eigen::Matrix32f::RowXpr	limits_z ()
void	set_limits_z (const Eigen::Vector2f &value)
float	min_x () const
float &	min_x ()
void	set_min_x (float value)
float	max_x () const
float &	max_x ()
void	set_max_x (float value)
float	min_y () const
float &	min_y ()
void	set_min_y (float value)
float	max_y () const
float &	max_y ()
void	set_max_y (float value)
float	min_z () const
float &	min_z ()
void	set_min_z (float value)
float	max_z () const
float &	max_z ()
void	set_max_z (float value)
bool	empty (float prec=Eigen::NumTraits< float >::dummy_precision()) const
	Indicate whether this AABB is empty (i.e. has zero extents). More...
float	central_distance (const AxisAlignedBoundingBox &other) const
	Return the distance between center of *this and other's center. More...
float	central_squared_distance (const AxisAlignedBoundingBox &other) const
	Return the squared distance between *this center and other's center. More...
bool	is_colliding (const AxisAlignedBoundingBox &other) const
	Checks whether *this is colliding (i.e. overlapping) with other. More...
template<class PointT >
bool	is_inside (const PointT &p) const
	Indicates whether point is inside *this. More...
template<class PointT >
void	expand_to (const PointT &point)
	Expand *this (in-place) to include point. Note that *this should be suitable initialized beforehand. More...
void	expand_to (const Eigen::Vector3f &point)
template<class PointT >
void	expanded_to (const PointT &point) const
	Return this AABB expanded to include point. Note that *this should be suitable initialized beforehand. More...
AxisAlignedBoundingBox	expanded_to (const Eigen::Vector3f &point) const

Static Public Member Functions
static AxisAlignedBoundingBox	from_points (const std::vector< Eigen::Vector3f > &points)
	Compute the AABB of the given points. More...
template<class PointT >
static AxisAlignedBoundingBox	from_points (const std::vector< PointT > &points)
	Compute the AABB of the given points. PointT must have x, y, z member variables. More...

Detailed Description

An axis-aligned (bounding-)box, defined by its limits in x-, y- and z- direction.

Constructor & Destructor Documentation

AxisAlignedBoundingBox() [1/5]

simox::AxisAlignedBoundingBox::AxisAlignedBoundingBox

(

)

Construct an empty AABB centered at (0, 0, 0) with extents (0, 0, 0).

AxisAlignedBoundingBox() [2/5]

simox::AxisAlignedBoundingBox::AxisAlignedBoundingBox	(	const Eigen::Vector3f &	min,
		const Eigen::Vector3f &	max
	)

Construct an AABB with minimal and maximal values.

AxisAlignedBoundingBox() [3/5]

simox::AxisAlignedBoundingBox::AxisAlignedBoundingBox	(	const Eigen::Vector2f &	limits_x,
		const Eigen::Vector2f &	limits_y,
		const Eigen::Vector2f &	limits_z
	)

Construct an AABB with axis-wise limits.

AxisAlignedBoundingBox() [4/5]

simox::AxisAlignedBoundingBox::AxisAlignedBoundingBox	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	z_min,
		float	z_max
	)

Construct an AABB with given limits.

AxisAlignedBoundingBox() [5/5]

simox::AxisAlignedBoundingBox::AxisAlignedBoundingBox

(

const Eigen::Matrix32f &

limits

)

Construct an AABB with limits in a 3x2 matrix.

Member Function Documentation

center()

Eigen::Vector3f simox::AxisAlignedBoundingBox::center

(

)

const

central_distance()

float simox::AxisAlignedBoundingBox::central_distance

(

const AxisAlignedBoundingBox &

other

)

const

Return the distance between center of *this and other's center.

central_squared_distance()

float simox::AxisAlignedBoundingBox::central_squared_distance

(

const AxisAlignedBoundingBox &

other

)

const

Return the squared distance between *this center and other's center.

empty()

bool simox::AxisAlignedBoundingBox::empty

(

float

prec = Eigen::NumTraits<float>::dummy_precision()

)

const

Indicate whether this AABB is empty (i.e. has zero extents).

expand_to() [1/2]

template<class PointT >

void simox::AxisAlignedBoundingBox::expand_to ( const PointT &  point )

inline

Expand *this (in-place) to include point. Note that *this should be suitable initialized beforehand.

See also

from_points()

expand_to() [2/2]

void simox::AxisAlignedBoundingBox::expand_to

(

const Eigen::Vector3f &

point

)

expanded_to() [1/2]

template<class PointT >

void simox::AxisAlignedBoundingBox::expanded_to ( const PointT &  point ) const

inline

Return this AABB expanded to include point. Note that *this should be suitable initialized beforehand.

See also

from_points()

expanded_to() [2/2]

AxisAlignedBoundingBox simox::AxisAlignedBoundingBox::expanded_to

(

const Eigen::Vector3f &

point

)

const

extents()

Eigen::Vector3f simox::AxisAlignedBoundingBox::extents

(

)

const

from_points() [1/2]

AxisAlignedBoundingBox simox::AxisAlignedBoundingBox::from_points ( const std::vector< Eigen::Vector3f > &  points )

static

Compute the AABB of the given points.

Exceptions

<tt>simox::error::SimoxError</tt>

If points is empty.

from_points() [2/2]

template<class PointT >

AxisAlignedBoundingBox simox::AxisAlignedBoundingBox::from_points ( const std::vector< PointT > &  points )

static

Compute the AABB of the given points. PointT must have x, y, z member variables.

Exceptions

<tt>simox::error::SimoxError</tt>

If points is empty.

is_colliding()

bool simox::AxisAlignedBoundingBox::is_colliding

(

const AxisAlignedBoundingBox &

other

)

const

Checks whether *this is colliding (i.e. overlapping) with other.

is_inside()

template<class PointT >

bool simox::AxisAlignedBoundingBox::is_inside

(

const PointT &

p

)

const

Indicates whether point is inside *this.

limits() [1/2]

Eigen::Matrix32f simox::AxisAlignedBoundingBox::limits

(

)

const

limits() [2/2]

Eigen::Matrix32f & simox::AxisAlignedBoundingBox::limits

(

)

limits_x() [1/2]

Eigen::Vector2f simox::AxisAlignedBoundingBox::limits_x

(

)

const

limits_x() [2/2]

Eigen::Matrix32f::RowXpr simox::AxisAlignedBoundingBox::limits_x

(

)

limits_y() [1/2]

Eigen::Vector2f simox::AxisAlignedBoundingBox::limits_y

(

)

const

limits_y() [2/2]

Eigen::Matrix32f::RowXpr simox::AxisAlignedBoundingBox::limits_y

(

)

limits_z() [1/2]

Eigen::Vector2f simox::AxisAlignedBoundingBox::limits_z

(

)

const

limits_z() [2/2]

Eigen::Matrix32f::RowXpr simox::AxisAlignedBoundingBox::limits_z

(

)

max() [1/2]

Eigen::Vector3f simox::AxisAlignedBoundingBox::max

(

)

const

max() [2/2]

Eigen::Matrix32f::ColXpr simox::AxisAlignedBoundingBox::max

(

)

max_x() [1/2]

float simox::AxisAlignedBoundingBox::max_x

(

)

const

max_x() [2/2]

float & simox::AxisAlignedBoundingBox::max_x

(

)

max_y() [1/2]

float simox::AxisAlignedBoundingBox::max_y

(

)

const

max_y() [2/2]

float & simox::AxisAlignedBoundingBox::max_y

(

)

max_z() [1/2]

float simox::AxisAlignedBoundingBox::max_z

(

)

const

max_z() [2/2]

float & simox::AxisAlignedBoundingBox::max_z

(

)

min() [1/2]

Eigen::Vector3f simox::AxisAlignedBoundingBox::min

(

)

const

min() [2/2]

Eigen::Matrix32f::ColXpr simox::AxisAlignedBoundingBox::min

(

)

min_x() [1/2]

float simox::AxisAlignedBoundingBox::min_x

(

)

const

min_x() [2/2]

float & simox::AxisAlignedBoundingBox::min_x

(

)

min_y() [1/2]

float simox::AxisAlignedBoundingBox::min_y

(

)

const

min_y() [2/2]

float & simox::AxisAlignedBoundingBox::min_y

(

)

min_z() [1/2]

float simox::AxisAlignedBoundingBox::min_z

(

)

const

min_z() [2/2]

float & simox::AxisAlignedBoundingBox::min_z

(

)

set_center()

void simox::AxisAlignedBoundingBox::set_center

(

const Eigen::Vector3f &

value

)

set_extents()

void simox::AxisAlignedBoundingBox::set_extents

(

const Eigen::Vector3f &

value

)

set_limits()

void simox::AxisAlignedBoundingBox::set_limits

(

const Eigen::Matrix32f &

value

)

set_limits_x()

void simox::AxisAlignedBoundingBox::set_limits_x

(

const Eigen::Vector2f &

value

)

set_limits_y()

void simox::AxisAlignedBoundingBox::set_limits_y

(

const Eigen::Vector2f &

value

)

set_limits_z()

void simox::AxisAlignedBoundingBox::set_limits_z

(

const Eigen::Vector2f &

value

)

set_max()

void simox::AxisAlignedBoundingBox::set_max

(

const Eigen::Vector3f &

value

)

set_max_x()

void simox::AxisAlignedBoundingBox::set_max_x

(

float

value

)

set_max_y()

void simox::AxisAlignedBoundingBox::set_max_y

(

float

value

)

set_max_z()

void simox::AxisAlignedBoundingBox::set_max_z

(

float

value

)

set_min()

void simox::AxisAlignedBoundingBox::set_min

(

const Eigen::Vector3f &

value

)

set_min_x()

void simox::AxisAlignedBoundingBox::set_min_x

(

float

value

)

set_min_y()

void simox::AxisAlignedBoundingBox::set_min_y

(

float

value

)

set_min_z()

void simox::AxisAlignedBoundingBox::set_min_z

(

float

value

)