Oriented rectangle. More...

#include <rectangle_obb.h>

Inheritance diagram for collision::RectangleOBB:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	set_up_segments (void)

void	compute_fastAABB (const Eigen::Vector2d &_v1, const Eigen::Vector2d &_v2, const Eigen::Vector2d &_v3, const Eigen::Vector2d &_v4) const

void	compute_fastAABB (void) const

	RectangleOBB (const detail::OBB &obb)

	RectangleOBB (double _r_x, double _r_y, Eigen::Matrix2d _local_axes, const Eigen::Vector2d &_center=Eigen::Vector2d(0, 0))

	RectangleOBB (double _r_x, double _r_y, double angle, const Eigen::Vector2d &_center=Eigen::Vector2d(0, 0))

	RectangleOBB (const RectangleOBB &copy)

double	orientation () const

AABB	getAABB_fast (void) const

virtual CollisionObjectType	getCollisionObjectType () const

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

virtual	~RectangleOBB ()

virtual RectangleOBB *	clone () const

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

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

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

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

Eigen::Matrix2d	local_axes () const

Eigen::Vector2d	local_x_axis () const

Eigen::Vector2d	local_y_axis () const

Eigen::Vector2d	r () const

double	r (int i) const

double	r_x () const

double	r_y () const

void	set_local_x_axis (const Eigen::Vector2d &x_axis)

void	set_local_y_axis (const Eigen::Vector2d &y_axis)

void	set_r_x (double _r_x)

void	set_r_y (double _r_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

Oriented rectangle.

Definition at line 19 of file rectangle_obb.h.

Constructor & Destructor Documentation

◆ RectangleOBB() [1/4]

collision::RectangleOBB::RectangleOBB ( const detail::OBB & obb )

inline

Definition at line 86 of file rectangle_obb.h.

◆ RectangleOBB() [2/4]

collision::RectangleOBB::RectangleOBB	(	double	_r_x,
		double	_r_y,
		Eigen::Matrix2d	_local_axes,
		const Eigen::Vector2d &	_center = `Eigen::Vector2d(0, 0)`
	)

inline

Definition at line 89 of file rectangle_obb.h.

◆ RectangleOBB() [3/4]

collision::RectangleOBB::RectangleOBB	(	double	_r_x,
		double	_r_y,
		double	angle,
		const Eigen::Vector2d &	_center = `Eigen::Vector2d(0, 0)`
	)

inline

Definition at line 100 of file rectangle_obb.h.

◆ RectangleOBB() [4/4]

collision::RectangleOBB::RectangleOBB ( const RectangleOBB & copy )

inline

Definition at line 112 of file rectangle_obb.h.

◆ ~RectangleOBB()

virtual collision::RectangleOBB::~RectangleOBB ( )

inlinevirtual

Definition at line 139 of file rectangle_obb.h.

Member Function Documentation

◆ clone()

RectangleOBB * collision::RectangleOBB::clone ( ) const

virtual

Implements collision::Shape.

Definition at line 40 of file rectangle_obb.cc.

◆ compute_fastAABB() [1/2]

void collision::RectangleOBB::compute_fastAABB	(	const Eigen::Vector2d &	_v1,
		const Eigen::Vector2d &	_v2,
		const Eigen::Vector2d &	_v3,
		const Eigen::Vector2d &	_v4
	)		const

inline

Definition at line 43 of file rectangle_obb.h.

◆ compute_fastAABB() [2/2]

void collision::RectangleOBB::compute_fastAABB ( void ) const

inline

Definition at line 66 of file rectangle_obb.h.

◆ createFCLCollisionGeometry()

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

overridevirtual

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

Definition at line 12 of file rectangle_obb.cc.

◆ createFCLCollisionObject()

fcl::CollisionObject< FCL_PRECISION > * collision::RectangleOBB::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_obb.cc.

◆ getAABB_fast()

AABB collision::RectangleOBB::getAABB_fast ( void ) const

inline

Definition at line 125 of file rectangle_obb.h.

◆ getCollisionObjectType()

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

inlinevirtual

Reimplemented from collision::CollisionObject.

Definition at line 132 of file rectangle_obb.h.

◆ local_axes()

Eigen::Matrix2d collision::RectangleOBB::local_axes ( void ) const

Definition at line 52 of file rectangle_obb.cc.

◆ local_x_axis()

Eigen::Vector2d collision::RectangleOBB::local_x_axis ( ) const

Definition at line 54 of file rectangle_obb.cc.

◆ local_y_axis()

Eigen::Vector2d collision::RectangleOBB::local_y_axis ( ) const

Definition at line 58 of file rectangle_obb.cc.

◆ orientation()

double collision::RectangleOBB::orientation ( ) const

Definition at line 105 of file rectangle_obb.cc.

◆ print()

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

virtual

Print all parameters of the shape.

Implements collision::Shape.

Definition at line 44 of file rectangle_obb.cc.

◆ r() [1/2]

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

Definition at line 62 of file rectangle_obb.cc.

◆ r() [2/2]

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

Definition at line 64 of file rectangle_obb.cc.

◆ r_x()

double collision::RectangleOBB::r_x ( ) const

Definition at line 75 of file rectangle_obb.cc.

◆ r_y()

double collision::RectangleOBB::r_y ( ) const

Definition at line 77 of file rectangle_obb.cc.

◆ rayTrace()

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

overridevirtual

Reimplemented from collision::CollisionObject.

Definition at line 24 of file rectangle_obb.cc.

◆ segments()

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

inline

Definition at line 178 of file rectangle_obb.h.

◆ set_local_x_axis()

void collision::RectangleOBB::set_local_x_axis ( const Eigen::Vector2d & x_axis )

Definition at line 79 of file rectangle_obb.cc.

◆ set_local_y_axis()

void collision::RectangleOBB::set_local_y_axis ( const Eigen::Vector2d & y_axis )

Definition at line 86 of file rectangle_obb.cc.

◆ set_r_x()

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

Definition at line 93 of file rectangle_obb.cc.

◆ set_r_y()

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

Definition at line 99 of file rectangle_obb.cc.

◆ set_up_segments()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void collision::RectangleOBB::set_up_segments ( void )

inline

Definition at line 23 of file rectangle_obb.h.

◆ squareDisToPoint()

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

Project translation vector t in OBB's local coordinate system

Definition at line 124 of file rectangle_obb.cc.

◆ type()

ShapeType collision::RectangleOBB::type ( ) const

virtual

Get shape type.

Implements collision::Shape.

Definition at line 42 of file rectangle_obb.cc.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RectangleOBB() [1/4]

◆ RectangleOBB() [2/4]

◆ RectangleOBB() [3/4]

◆ RectangleOBB() [4/4]

◆ ~RectangleOBB()

Member Function Documentation

◆ clone()

◆ compute_fastAABB() [1/2]

◆ compute_fastAABB() [2/2]

◆ createFCLCollisionGeometry()

◆ createFCLCollisionObject()

◆ getAABB_fast()

◆ getCollisionObjectType()

◆ local_axes()

◆ local_x_axis()

◆ local_y_axis()

◆ orientation()

◆ print()

◆ r() [1/2]

◆ r() [2/2]

◆ r_x()

◆ r_y()

◆ rayTrace()

◆ segments()

◆ set_local_x_axis()

◆ set_local_y_axis()

◆ set_r_x()

◆ set_r_y()

◆ set_up_segments()

◆ squareDisToPoint()

◆ type()