Mathematical representation of a box that is aligned along an X,Y,Z axis. More...
#include <ignition/math/AxisAlignedBox.hh>
Public Member Functions | |
AxisAlignedBox () | |
Default constructor. This constructor will set the box's minimum and maximum corners to the highest (max) and lowest floating point values available to indicate that it is uninitialized. The default box does not intersect any other boxes or contain any points since it has no extent. Its center is the origin and its side lengths are 0. More... | |
AxisAlignedBox (const AxisAlignedBox &_b) | |
Copy Constructor. More... | |
AxisAlignedBox (const Vector3d &_vec1, const Vector3d &_vec2) | |
Constructor. This constructor will compute the box's minimum and maximum corners based on the two arguments. More... | |
AxisAlignedBox (double _vec1X, double _vec1Y, double _vec1Z, double _vec2X, double _vec2Y, double _vec2Z) | |
Constructor. This constructor will compute the box's minimum and maximum corners based on the arguments. More... | |
virtual | ~AxisAlignedBox () |
Destructor. More... | |
math::Vector3d | Center () const |
Get the box center. More... | |
bool | Contains (const Vector3d &_p) const |
Check if a point lies inside the box. More... | |
double | DensityFromMass (const double _mass) const |
Compute the cylinder's density given a mass value. The cylinder is assumed to be solid with uniform density. This function requires the cylinder's radius and length to be set to values greater than zero. The Material of the cylinder is ignored. More... | |
std::tuple< bool, double, Vector3d > | Intersect (const Line3d &_line) const |
Check if a line intersects the box. More... | |
std::tuple< bool, double, Vector3d > | Intersect (const Vector3d &_origin, const Vector3d &_dir, const double _min, const double _max) const |
Check if a ray (origin, direction) intersects the box. More... | |
bool | IntersectCheck (const Vector3d &_origin, const Vector3d &_dir, const double _min, const double _max) const |
Check if a ray (origin, direction) intersects the box. More... | |
std::tuple< bool, double > | IntersectDist (const Vector3d &_origin, const Vector3d &_dir, const double _min, const double _max) const |
Check if a ray (origin, direction) intersects the box. More... | |
bool | Intersects (const AxisAlignedBox &_box) const |
Test box intersection. This test will only work if both box's minimum corner is less than or equal to their maximum corner. More... | |
bool | MassMatrix (MassMatrix3d &_massMat) const |
Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set. More... | |
const Material & | Material () const |
Get the material associated with this box. More... | |
Vector3d & | Max () |
Get a mutable version of the maximum corner. More... | |
const Vector3d & | Max () const |
Get the maximum corner. More... | |
void | Merge (const AxisAlignedBox &_box) |
Merge a box with this box. More... | |
Vector3d & | Min () |
Get a mutable version of the minimum corner. More... | |
const Vector3d & | Min () const |
Get the minimum corner. More... | |
bool | operator!= (const AxisAlignedBox &_b) const |
Inequality test operator. More... | |
AxisAlignedBox | operator+ (const AxisAlignedBox &_b) const |
Addition operator. result = this + _b. More... | |
AxisAlignedBox | operator+ (const Vector3d &_v) |
Add a vector to the min and max values. More... | |
AxisAlignedBox | operator+ (const Vector3d &_v) const |
Add a vector to the min and max values. More... | |
const AxisAlignedBox & | operator+= (const AxisAlignedBox &_b) |
Addition set operator. this = this + _b. More... | |
AxisAlignedBox | operator- (const Vector3d &_v) |
Subtract a vector from the min and max values. More... | |
AxisAlignedBox | operator- (const Vector3d &_v) const |
Subtract a vector from the min and max values. More... | |
AxisAlignedBox & | operator= (const AxisAlignedBox &_b) |
Assignment operator. Set this box to the parameter. More... | |
bool | operator== (const AxisAlignedBox &_b) const |
Equality test operator. More... | |
bool | SetDensityFromMass (const double _mass) |
Set the density of this box based on a mass value. Density is computed using double DensityFromMass(const double _mass) const. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true. More... | |
void | SetMaterial (const Material &_mat) |
Set the material associated with this box. More... | |
math::Vector3d | Size () const |
Get the size of the box. More... | |
double | Volume () const |
Get the volume of the box in m^3. More... | |
double | XLength () const |
Get the length along the x dimension. More... | |
double | YLength () const |
Get the length along the y dimension. More... | |
double | ZLength () const |
Get the length along the z dimension. More... | |
Detailed Description
Mathematical representation of a box that is aligned along an X,Y,Z axis.
Constructor & Destructor Documentation
◆ AxisAlignedBox() [1/4]
AxisAlignedBox | ( | ) |
Default constructor. This constructor will set the box's minimum and maximum corners to the highest (max) and lowest floating point values available to indicate that it is uninitialized. The default box does not intersect any other boxes or contain any points since it has no extent. Its center is the origin and its side lengths are 0.
◆ AxisAlignedBox() [2/4]
AxisAlignedBox | ( | const Vector3d & | _vec1, |
const Vector3d & | _vec2 | ||
) |
Constructor. This constructor will compute the box's minimum and maximum corners based on the two arguments.
- Parameters
-
[in] _vec1 One corner of the box [in] _vec2 Another corner of the box
◆ AxisAlignedBox() [3/4]
AxisAlignedBox | ( | double | _vec1X, |
double | _vec1Y, | ||
double | _vec1Z, | ||
double | _vec2X, | ||
double | _vec2Y, | ||
double | _vec2Z | ||
) |
Constructor. This constructor will compute the box's minimum and maximum corners based on the arguments.
- Parameters
-
[in] _vec1X One corner's X position [in] _vec1Y One corner's Y position [in] _vec1Z One corner's Z position [in] _vec2X Other corner's X position [in] _vec2Y Other corner's Y position [in] _vec2Z Other corner's Z position
◆ AxisAlignedBox() [4/4]
AxisAlignedBox | ( | const AxisAlignedBox & | _b | ) |
Copy Constructor.
- Parameters
-
[in] _b AxisAlignedBox to copy
◆ ~AxisAlignedBox()
|
virtual |
Destructor.
Member Function Documentation
◆ Center()
math::Vector3d Center | ( | ) | const |
◆ Contains()
bool Contains | ( | const Vector3d & | _p | ) | const |
Check if a point lies inside the box.
- Parameters
-
[in] _p Point to check.
- Returns
- True if the point is inside the box.
◆ DensityFromMass()
double DensityFromMass | ( | const double | _mass | ) | const |
Compute the cylinder's density given a mass value. The cylinder is assumed to be solid with uniform density. This function requires the cylinder's radius and length to be set to values greater than zero. The Material of the cylinder is ignored.
- Parameters
-
[in] _mass Mass of the cylinder, in kg. This value should be greater than zero.
- Returns
- Density of the cylinder in kg/m^3. A negative value is returned if radius, length or _mass is <= 0.
- Deprecated:
- Unimplemented
◆ Intersect() [1/2]
std::tuple<bool, double, Vector3d> Intersect | ( | const Line3d & | _line | ) | const |
Check if a line intersects the box.
- Parameters
-
[in] _line The line to check against this box.
- Returns
- A boolean, double, Vector3d tuple. The boolean value is true if the line intersects the box. The double is the distance from the line's start to the closest intersection point on the box. The double value is zero when the boolean value is false. The Vector3d is the intersection point on the box. The Vector3d value is zero if the boolean value is false.
◆ Intersect() [2/2]
std::tuple<bool, double, Vector3d> Intersect | ( | const Vector3d & | _origin, |
const Vector3d & | _dir, | ||
const double | _min, | ||
const double | _max | ||
) | const |
Check if a ray (origin, direction) intersects the box.
- Parameters
-
[in] _origin Origin of the ray. [in] _dir Direction of the ray. This ray will be normalized. [in] _min Minimum allowed distance. [in] _max Maximum allowed distance.
- Returns
- A boolean, double, Vector3d tuple. The boolean value is true if the line intersects the box.
The double is the distance from the ray's start to the closest intersection point on the box, minus the _min distance. For example, if _min == 0.5 and the intersection happens at a distance of 2.0 from _origin then returned distance is 1.5. The double value is zero when the boolean value is false. The
Vector3d is the intersection point on the box. The Vector3d value is zero if the boolean value is false.
◆ IntersectCheck()
bool IntersectCheck | ( | const Vector3d & | _origin, |
const Vector3d & | _dir, | ||
const double | _min, | ||
const double | _max | ||
) | const |
Check if a ray (origin, direction) intersects the box.
- Parameters
-
[in] _origin Origin of the ray. [in] _dir Direction of the ray. This ray will be normalized. [in] _min Minimum allowed distance. [in] _max Maximum allowed distance.
- Returns
- A boolean
◆ IntersectDist()
std::tuple<bool, double> IntersectDist | ( | const Vector3d & | _origin, |
const Vector3d & | _dir, | ||
const double | _min, | ||
const double | _max | ||
) | const |
Check if a ray (origin, direction) intersects the box.
- Parameters
-
[in] _origin Origin of the ray. [in] _dir Direction of the ray. This ray will be normalized. [in] _min Minimum allowed distance. [in] _max Maximum allowed distance.
- Returns
- A boolean and double tuple. The boolean value is true if the line intersects the box.
The double is the distance from the ray's start to the closest intersection point on the box, minus the _min distance. For example, if _min == 0.5 and the intersection happens at a distance of 2.0 from _origin then returned distance is 1.5.
The double value is zero when the boolean value is false.
◆ Intersects()
bool Intersects | ( | const AxisAlignedBox & | _box | ) | const |
Test box intersection. This test will only work if both box's minimum corner is less than or equal to their maximum corner.
- Parameters
-
[in] _box AxisAlignedBox to check for intersection with this box.
- Returns
- True if this box intersects _box.
◆ MassMatrix()
bool MassMatrix | ( | MassMatrix3d & | _massMat | ) | const |
Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set.
- Parameters
-
[out] _massMat The computed mass matrix will be stored here.
- Returns
- False if computation of the mass matrix failed, which could be due to an invalid size (<=0) or density (<=0).
- Deprecated:
- Unimplemented
◆ Material()
Get the material associated with this box.
- Returns
- The material assigned to this box.
- Deprecated:
- Unimplemented
◆ Max() [1/2]
Vector3d& Max | ( | ) |
Get a mutable version of the maximum corner.
- Returns
- The Vector3d that is the maximum corner of the box.
◆ Max() [2/2]
const Vector3d& Max | ( | ) | const |
Get the maximum corner.
- Returns
- The Vector3d that is the maximum corner of the box.
Referenced by ignition::math::eigen3::convert().
◆ Merge()
void Merge | ( | const AxisAlignedBox & | _box | ) |
Merge a box with this box.
- Parameters
-
[in] _box AxisAlignedBox to add to this box
◆ Min() [1/2]
Vector3d& Min | ( | ) |
Get a mutable version of the minimum corner.
- Returns
- The Vector3d that is the minimum corner of the box.
◆ Min() [2/2]
const Vector3d& Min | ( | ) | const |
Get the minimum corner.
- Returns
- The Vector3d that is the minimum corner of the box.
Referenced by ignition::math::eigen3::convert().
◆ operator!=()
bool operator!= | ( | const AxisAlignedBox & | _b | ) | const |
◆ operator+() [1/3]
AxisAlignedBox operator+ | ( | const AxisAlignedBox & | _b | ) | const |
◆ operator+() [2/3]
AxisAlignedBox operator+ | ( | const Vector3d & | _v | ) |
Add a vector to the min and max values.
- Parameters
-
_v The vector to use during addition
- Returns
- The new box
◆ operator+() [3/3]
AxisAlignedBox operator+ | ( | const Vector3d & | _v | ) | const |
Add a vector to the min and max values.
- Parameters
-
_v The vector to use during addition
- Returns
- The new box
◆ operator+=()
const AxisAlignedBox& operator+= | ( | const AxisAlignedBox & | _b | ) |
◆ operator-() [1/2]
AxisAlignedBox operator- | ( | const Vector3d & | _v | ) |
Subtract a vector from the min and max values.
- Parameters
-
_v The vector to use during subtraction
- Returns
- The new box
◆ operator-() [2/2]
AxisAlignedBox operator- | ( | const Vector3d & | _v | ) | const |
Subtract a vector from the min and max values.
- Parameters
-
_v The vector to use during subtraction
- Returns
- The new box
◆ operator=()
AxisAlignedBox& operator= | ( | const AxisAlignedBox & | _b | ) |
Assignment operator. Set this box to the parameter.
- Parameters
-
[in] _b AxisAlignedBox to copy
- Returns
- The new box.
◆ operator==()
bool operator== | ( | const AxisAlignedBox & | _b | ) | const |
◆ SetDensityFromMass()
bool SetDensityFromMass | ( | const double | _mass | ) |
Set the density of this box based on a mass value. Density is computed using double DensityFromMass(const double _mass) const. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true.
- Parameters
-
[in] _mass Mass of the box, in kg. This value should be greater than zero.
- Returns
- True if the density was set. False is returned if the box's size or the _mass value are <= 0.
- See also
- double DensityFromMass(const double _mass) const
- Deprecated:
- Unimplemented
◆ SetMaterial()
void SetMaterial | ( | const Material & | _mat | ) |
Set the material associated with this box.
- Parameters
-
[in] _mat The material assigned to this box
- Deprecated:
- Unimplemented
◆ Size()
math::Vector3d Size | ( | ) | const |
◆ Volume()
double Volume | ( | ) | const |
Get the volume of the box in m^3.
- Returns
- Volume of the box in m^3.
◆ XLength()
double XLength | ( | ) | const |
Get the length along the x dimension.
- Returns
- Double value of the length in the x dimension
◆ YLength()
double YLength | ( | ) | const |
Get the length along the y dimension.
- Returns
- Double value of the length in the y dimension
◆ ZLength()
double ZLength | ( | ) | const |
Get the length along the z dimension.
- Returns
- Double value of the length in the z dimension
The documentation for this class was generated from the following file: