An abstract class that defines the required properties of convex objects. More...

#include </home/thodoris/src/ompl/demos/multicopter/CommonMath/ConvexObj.h>

Inheritance diagram for CommonMath::ConvexObj:

Public Member Functions
virtual Boundary	GetTangentPlane (Vec3 testPoint)=0
	Find a separating plane between the convex object and given point.
virtual bool	IsPointInside (Vec3 testPoint)=0
	Check whether a given point is inside the convex object.
virtual Vec3	GetRandomPositionInside (std::default_random_engine randomGen)=0

Detailed Description

An abstract class that defines the required properties of convex objects.

Each convex object is required to implement two functions: one that returns a separating plane between a given point in 3D space and the convex object, and one that determines whether the given point is inside the convex object.

Definition at line 65 of file ConvexObj.h.

Constructor & Destructor Documentation

◆ ~ConvexObj()

virtual CommonMath::ConvexObj::~ConvexObj ( )

inlinevirtual

Definition at line 68 of file ConvexObj.h.

Member Function Documentation

◆ GetTangentPlane()

virtual Boundary CommonMath::ConvexObj::GetTangentPlane ( Vec3 testPoint )

pure virtual

Find a separating plane between the convex object and given point.

Parameters

testPoint The coordinates of any point outside of the convex object

Returns: A Boundary struct defining a point on the boundary of the convex object and a unit vector normal to the separating plane pointing away from the convex object

Implemented in CommonMath::RectPrism.

◆ IsPointInside()

virtual bool CommonMath::ConvexObj::IsPointInside ( Vec3 testPoint )

pure virtual

Check whether a given point is inside the convex object.