Axis-aligned rectangle. More...

#include <rectangle_aabb.h>

Inheritance diagram for collision::RectangleAABB:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RectangleAABB (double _rx, double _ry, const Eigen::Vector2d &_center=Eigen::Vector2d(0, 0))

bool	rayTrace (const Eigen::Vector2d &point1, const Eigen::Vector2d &point2, std::vector< LineSegment > &intersect) const override

	~RectangleAABB ()

	RectangleAABB (const RectangleAABB &copy)

RectangleAABB *	clone () const

void	print (std::ostringstream &stream) const
	Print all parameters of the shape. More...

virtual CollisionObjectType	getCollisionObjectType () const override

ShapeType	type () const
	Get shape type. More...

Eigen::Vector2d	r () const

double	r (int i) const

double	r_x () const

double	r_y () const

Eigen::Vector2d	min () const

Eigen::Vector2d	max () const

fcl::CollisionGeometry< FCL_PRECISION > *	createFCLCollisionGeometry (void) const override

fcl::CollisionObject< FCL_PRECISION > *	createFCLCollisionObject (const std::shared_ptr< fcl::CollisionGeometry< FCL_PRECISION >> &col_geom) const override

void	set_center (const Eigen::Vector2d &_center)

void	set_r (const Eigen::Vector2d &_r)

void	set_r_x (double _r_x)

void	set_r_y (double _r_y)

void	set_all (double r_x, double r_y, double center_x, double center_y)

double	squareDisToPoint (const Eigen::Vector2d &p) const

std::vector< LineSegment >	segments (void) const

Public Member Functions inherited from collision::Shape
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionObjectClass	getCollisionObjectClass () const override

virtual const ISolverEntity_FCL *	getFclInterface () const override

	Shape (const Shape &copy)

Eigen::Vector2d	center () const
	Get geometric center of shape. More...

double	center_x () const

double	center_y () const

void	set_center (const Eigen::Vector2d &_center)
	Set geometric center of shape. More...

virtual CollisionObjectConstPtr	timeSlice (int time_idx, CollisionObjectConstPtr shared_ptr_this) const

double	radius () const
	Get radius. More...

virtual	~Shape ()

Public Member Functions inherited from collision::CollisionObjectEx
	CollisionObjectEx ()

virtual	~CollisionObjectEx ()

virtual bool	collide (const CollisionObject &c, const collision::CollisionRequest &req=CollisionRequest()) const

virtual bool	BVCheck (CollisionObjectConstPtr obj2) const

virtual std::shared_ptr< const collision::RectangleAABB >	getAABB () const

virtual int	getSolverEntity (solvers::solverFCL::SolverEntity_FCL *&ptr) const

virtual int	getSolverEntity (solvers::solverBoost::SolverEntity_Boost *&ptr) const

virtual const ICollisionContainer *	getContainerInterface (void) const

virtual const solvers::solverBoost::ISolverEntity_Boost *	getBoostInterface (void) const

Public Member Functions inherited from collision::CollisionObject
virtual	~CollisionObject ()

virtual void	toString (std::ostringstream &stream) const

virtual void	addParentMap (std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &parent_map) const

virtual void	addParentMap (std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &parent_map, CollisionObjectConstPtr parent) const

Additional Inherited Members
Protected Member Functions inherited from collision::Shape
	Shape (const Eigen::Vector2d &_center)

Protected Member Functions inherited from collision::CollisionObjectEx
void	invalidateCollisionEntityCache (void)

Protected Attributes inherited from collision::Shape
Eigen::Vector2d	center_

double	radius_

Detailed Description

Axis-aligned rectangle.

Definition at line 18 of file rectangle_aabb.h.

Constructor & Destructor Documentation

◆ RectangleAABB() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW collision::RectangleAABB::RectangleAABB	(	double	_rx,
		double	_ry,
		const Eigen::Vector2d &	_center = `Eigen::Vector2d(0, 0)`
	)

inline

Definition at line 22 of file rectangle_aabb.h.

◆ ~RectangleAABB()

collision::RectangleAABB::~RectangleAABB ( )

inline

Definition at line 40 of file rectangle_aabb.h.

◆ RectangleAABB() [2/2]

collision::RectangleAABB::RectangleAABB ( const RectangleAABB & copy )

Definition at line 43 of file rectangle_aabb.cc.

Member Function Documentation

◆ clone()

RectangleAABB * collision::RectangleAABB::clone ( ) const

virtual

Implements collision::Shape.

Definition at line 41 of file rectangle_aabb.cc.

◆ createFCLCollisionGeometry()

fcl::CollisionGeometry< FCL_PRECISION > * collision::RectangleAABB::createFCLCollisionGeometry ( void ) const

overridevirtual

Implements collision::solvers::solverFCL::IFCLCollisionObject.

Definition at line 13 of file rectangle_aabb.cc.

◆ createFCLCollisionObject()

fcl::CollisionObject< FCL_PRECISION > * collision::RectangleAABB::createFCLCollisionObject ( const std::shared_ptr< fcl::CollisionGeometry< FCL_PRECISION >> & col_geom ) const

overridevirtual

Implements collision::solvers::solverFCL::IFCLCollisionObject.

Definition at line 16 of file rectangle_aabb.cc.

◆ getCollisionObjectType()

virtual CollisionObjectType collision::RectangleAABB::getCollisionObjectType ( ) const

inlineoverridevirtual

Reimplemented from collision::CollisionObject.

Definition at line 50 of file rectangle_aabb.h.

◆ max()

Eigen::Vector2d collision::RectangleAABB::max ( ) const

Definition at line 63 of file rectangle_aabb.cc.

◆ min()

Eigen::Vector2d collision::RectangleAABB::min ( ) const

Definition at line 61 of file rectangle_aabb.cc.

◆ print()

void collision::RectangleAABB::print ( std::ostringstream & stream ) const

virtual

Print all parameters of the shape.

Implements collision::Shape.

Definition at line 54 of file rectangle_aabb.cc.

◆ r() [1/2]

Eigen::Vector2d collision::RectangleAABB::r ( void ) const

Definition at line 65 of file rectangle_aabb.cc.

◆ r() [2/2]

double collision::RectangleAABB::r ( int i ) const

Definition at line 67 of file rectangle_aabb.cc.

◆ r_x()

double collision::RectangleAABB::r_x ( ) const

Definition at line 85 of file rectangle_aabb.cc.

◆ r_y()

double collision::RectangleAABB::r_y ( ) const

Definition at line 87 of file rectangle_aabb.cc.

◆ rayTrace()

bool collision::RectangleAABB::rayTrace	(	const Eigen::Vector2d &	point1,
		const Eigen::Vector2d &	point2,
		std::vector< LineSegment > &	intersect
	)		const

overridevirtual

Reimplemented from collision::CollisionObject.

Definition at line 25 of file rectangle_aabb.cc.

◆ segments()

std::vector<LineSegment> collision::RectangleAABB::segments ( void ) const

inline

Definition at line 83 of file rectangle_aabb.h.

◆ set_all()

void collision::RectangleAABB::set_all	(	double	r_x,
		double	r_y,
		double	center_x,
		double	center_y
	)

Definition at line 110 of file rectangle_aabb.cc.

◆ set_center()

void collision::RectangleAABB::set_center ( const Eigen::Vector2d & _center )

Definition at line 89 of file rectangle_aabb.cc.

◆ set_r()

void collision::RectangleAABB::set_r ( const Eigen::Vector2d & _r )

Definition at line 78 of file rectangle_aabb.cc.

◆ set_r_x()

void collision::RectangleAABB::set_r_x ( double _r_x )

Definition at line 96 of file rectangle_aabb.cc.

◆ set_r_y()

void collision::RectangleAABB::set_r_y ( double _r_y )

Definition at line 103 of file rectangle_aabb.cc.

◆ squareDisToPoint()

double collision::RectangleAABB::squareDisToPoint ( const Eigen::Vector2d & p ) const

Definition at line 124 of file rectangle_aabb.cc.

◆ type()

ShapeType collision::RectangleAABB::type ( ) const

virtual

Get shape type.

Implements collision::Shape.

Definition at line 52 of file rectangle_aabb.cc.

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

include/collision/narrowphase/rectangle_aabb.h
src/narrowphase/rectangle_aabb.cc

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RectangleAABB() [1/2]

◆ ~RectangleAABB()

◆ RectangleAABB() [2/2]

Member Function Documentation

◆ clone()

◆ createFCLCollisionGeometry()

◆ createFCLCollisionObject()

◆ getCollisionObjectType()

◆ max()

◆ min()

◆ print()

◆ r() [1/2]

◆ r() [2/2]

◆ r_x()

◆ r_y()

◆ rayTrace()

◆ segments()

◆ set_all()

◆ set_center()

◆ set_r()

◆ set_r_x()

◆ set_r_y()

◆ squareDisToPoint()

◆ type()