mrs_lib::geometry::Cuboid Class Reference

geometric representation of a cuboid More...

#include <shapes.h>

Public Member Functions
	Cuboid ()
	constructor for initialization with all points set to [0,0,0]
	~Cuboid ()
	virtual destructor
	Cuboid (Eigen::Vector3d p0, Eigen::Vector3d p1, Eigen::Vector3d p2, Eigen::Vector3d p3, Eigen::Vector3d p4, Eigen::Vector3d p5, Eigen::Vector3d p6, Eigen::Vector3d p7)
	constructor from six provided points (vector3)
	Cuboid (std::vector< Eigen::Vector3d > points)
	constructor from a std::vector of provided points
	Cuboid (Eigen::Vector3d center, Eigen::Vector3d size, Eigen::Quaterniond orientation)
	constructor from a provided center point, size and orientation
const std::vector< Eigen::Vector3d >	vertices () const
	getter for all vertices (vector3) of this cuboid
const Eigen::Vector3d	center () const
	getter for the center point
const Rectangle	getRectangle (int face_idx) const
	getter for one side corresponding to a provided index
const std::vector< Eigen::Vector3d >	intersectionRay (Ray r, double epsilon=1e-4) const
	calculate the intersection between this cuboid and a provided ray within a given tolerance. Can result in 0, 1 or 2 intersection points

Detailed Description

geometric representation of a cuboid

Constructor & Destructor Documentation

Cuboid() [1/3]

mrs_lib::geometry::Cuboid::Cuboid	(	Eigen::Vector3d	p0,
		Eigen::Vector3d	p1,
		Eigen::Vector3d	p2,
		Eigen::Vector3d	p3,
		Eigen::Vector3d	p4,
		Eigen::Vector3d	p5,
		Eigen::Vector3d	p6,
		Eigen::Vector3d	p7
	)

constructor from six provided points (vector3)

Parameters

p0	vector3
p1	vector3
p2	vector3
p3	vector3
p4	vector3
p5	vector3
p6	vector3
p7	vector3

Cuboid() [2/3]

mrs_lib::geometry::Cuboid::Cuboid

(

std::vector< Eigen::Vector3d >

points

)

constructor from a std::vector of provided points

Parameters

points

std::vector<vector3>

Cuboid() [3/3]

mrs_lib::geometry::Cuboid::Cuboid	(	Eigen::Vector3d	center,
		Eigen::Vector3d	size,
		Eigen::Quaterniond	orientation
	)

constructor from a provided center point, size and orientation

Parameters

center	vector3
size	vector3
orientation	quaternion

Member Function Documentation

center()

const Eigen::Vector3d mrs_lib::geometry::Cuboid::center

(

)

const

getter for the center point

Returns

vector3

getRectangle()

const Rectangle mrs_lib::geometry::Cuboid::getRectangle

(

int

face_idx

)

const

getter for one side corresponding to a provided index

Parameters

face_idx

index of the side to lookup points for

Returns

rectangle representing the cuboid side

intersectionRay()

const std::vector< Eigen::Vector3d > mrs_lib::geometry::Cuboid::intersectionRay	(	Ray	r,
		double	epsilon = 1e-4
	)		const

calculate the intersection between this cuboid and a provided ray within a given tolerance. Can result in 0, 1 or 2 intersection points

Parameters

r	ray to check intersection with
epsilon	tolerance for the calculation

Returns

std::vector<vector3> list of intersection points (depending on the geometry, can yield 0, 1 or 2 points)

vertices()

const std::vector< Eigen::Vector3d > mrs_lib::geometry::Cuboid::vertices

(

)

const

getter for all vertices (vector3) of this cuboid

Returns

std::vector<vector3>

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

• include/mrs_lib/geometry/shapes.h
• src/geometry/shapes.cpp