Mathematical representation of a box that is aligned along an X,Y,Z axis. More...

#include <gz/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 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...

math::Vector3d	Center () const
	Get the box center. More...

bool	Contains (const Vector3d &_p) const
	Check if a point lies inside the box. 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...

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...

bool	operator== (const AxisAlignedBox &_b) const
	Equality test operator. 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() [1/3]

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() [2/3]

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() [3/3]

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

Member Function Documentation

◆ Center()

math::Vector3d Center ( ) const

Get the box center.

Returns: The center position of the box

Referenced by Plane< T >::Side().

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ operator!=()

bool operator!= ( const AxisAlignedBox & _b ) const

Inequality test operator.

Parameters

[in] _b AxisAlignedBox to test

Returns: True if not equal

◆ operator+() [1/3]

AxisAlignedBox operator+ ( const AxisAlignedBox & _b ) const

Addition operator. result = this + _b.

Parameters

[in] _b AxisAlignedBox to add

Returns: The new box

◆ 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 )

Addition set operator. this = this + _b.

Parameters

[in] _b AxisAlignedBox to add

Returns: This new box

◆ 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==()

bool operator== ( const AxisAlignedBox & _b ) const

Equality test operator.

Parameters

[in] _b AxisAlignedBox to test

Returns: True if equal

◆ Size()

math::Vector3d Size ( ) const

Get the size of the box.

Returns: Size of the box

Referenced by Plane< T >::Side().

◆ 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:

gz/math/AxisAlignedBox.hh

Gazebo Math

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ AxisAlignedBox() [1/3]

◆ AxisAlignedBox() [2/3]

◆ AxisAlignedBox() [3/3]

Member Function Documentation

◆ Center()

◆ Contains()

◆ Intersect() [1/2]

◆ Intersect() [2/2]

◆ IntersectCheck()

◆ IntersectDist()

◆ Intersects()

◆ Max() [1/2]

◆ Max() [2/2]

◆ Merge()

◆ Min() [1/2]

◆ Min() [2/2]

◆ operator!=()

◆ operator+() [1/3]

◆ operator+() [2/3]

◆ operator+() [3/3]

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator==()

◆ Size()

◆ Volume()

◆ XLength()

◆ YLength()

◆ ZLength()