CommonMath::RectPrism Class Reference

A rectangular prism. More...

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

Inheritance diagram for CommonMath::RectPrism:

Public Member Functions
	RectPrism (Vec3 center, Vec3 sideLengths)
	Constructor.
Boundary	GetTangentPlane (Vec3 const testPoint)
	Finds a separating plane between the prism and given point.
bool	IsPointInside (Vec3 const testPoint)
	Check whether a given point is inside or on the boundary of the prism.
Vec3	GetRandomPositionInside (std::default_random_engine randomGen)
void	SetCenterPoint (Vec3 center)
	Sets the location of the center of the prism in global coordinates.
void	SetSideLengths (Vec3 sideLen)
	Sets the side lengths of the prism.

Detailed Description

A rectangular prism.

The rectangular prism is defined by the location of the center of the object, three side lengths, and a rotation between the the global coordinate frame and a coordinate frame aligned with the edges of the rectangular prism.

Definition at line 33 of file RectPrism.h.

Constructor & Destructor Documentation

RectPrism()

CommonMath::RectPrism::RectPrism ( Vec3 center, Vec3 sideLengths )

inline

Constructor.

Creates the rectangular prism. The local coordinate frame is defined such that it aligns with the edges of the prism (i.e. the x-axis of the local coordinate frame is parallel to the edge defined by sideLengths.x, the y-axis is parallel to the edge defined by sideLengths.y, and the z-axis is parallel to the edge defined by sideLengths.z).

Parameters

center	The center of the prism written in the global coordinate frame
sideLengths	The length of each side of the prism
rotation	The rotation between the local coordinate frame and global coordinate frame

Definition at line 47 of file RectPrism.h.

Member Function Documentation

GetRandomPositionInside()

Vec3 CommonMath::RectPrism::GetRandomPositionInside ( std::default_random_engine randomGen )

inlinevirtual

Implements CommonMath::ConvexObj.

Definition at line 107 of file RectPrism.h.

GetTangentPlane()

Boundary CommonMath::RectPrism::GetTangentPlane ( Vec3 const testPoint )

inlinevirtual

Finds a separating plane between the prism and given point.

The resulting Boundary struct is defined by the point on the boundary of the rectangular prism closest to testPoint and a unit normal pointing from this point to testPoint.

Parameters

testPoint

The coordinates of any point outside of the prism

Returns

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

Implements CommonMath::ConvexObj.

Definition at line 63 of file RectPrism.h.

IsPointInside()

bool CommonMath::RectPrism::IsPointInside ( Vec3 const testPoint )

inlinevirtual

Check whether a given point is inside or on the boundary of the prism.

Parameters

testPoint

The coordinates of any point

Returns

true if testPoint is inside or on the boundary of the prism, false otherwise

Implements CommonMath::ConvexObj.

Definition at line 97 of file RectPrism.h.

SetCenterPoint()

void CommonMath::RectPrism::SetCenterPoint ( Vec3 center )

inline

Sets the location of the center of the prism in global coordinates.

Definition at line 118 of file RectPrism.h.

SetSideLengths()

void CommonMath::RectPrism::SetSideLengths ( Vec3 sideLen )

inline

Sets the side lengths of the prism.

Definition at line 123 of file RectPrism.h.

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

• demos/multicopter/CommonMath/RectPrism.h