adore::mad::BoundingVolumes::OBB3d Class Reference

#include <boundingvolumes.h>

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Public Types
typedef boost::geometry::model::point< float, 3, boost::geometry::cs::cartesian >	boost_point
typedef boost::geometry::model::box< boost_point >	boost_box

Public Member Functions
	OBB3d ()
	OBB3d (OBB3d *other)
	OBB3d (float *values)
void	setData (float *values)
void	resetTransformation ()
void	transform_forwards (float cos_psi, float sin_psi, float dx, float dy, float dz)
bool	isCollisionFree (OBB3d *other)
bool	isPointInside (float x, float y, float z)
void	rotateZ (float cos, float sin, int istart=0)
void	translate (float *t)
float *	getData ()
void	getPoint (float d1, float d2, float d3, float *value)
boost_box	getAABox ()
void	set_obb (float cx, float cy, float psi, float ac, float bd, float w, float zmin, float zmax)
void	bound_points2d (float *pL, float *pR, float zmin, float zmax, int count)
void	mean (float *x, int n, float &xm)
void	projected_interval (float *x, float *y, int n, float bx, float by, float cx, float cy, float &bxmin, float &bxmax)
void	bound_points3d (int n0, int n1, float *x0, float *x1, float *y0, float *y1, float z0, float z1)

Private Attributes
float	v [12]
float	v_backup [12]

Detailed Description

A three-dimensional, oriented bounding box

Member Typedef Documentation

boost_box

typedef boost::geometry::model::box<boost_point> adore::mad::BoundingVolumes::OBB3d::boost_box

boost_point

typedef boost::geometry::model::point<float,3,boost::geometry::cs::cartesian> adore::mad::BoundingVolumes::OBB3d::boost_point

Constructor & Destructor Documentation

OBB3d() [1/3]

adore::mad::BoundingVolumes::OBB3d::OBB3d ( )

inline

OBB3d() [2/3]

adore::mad::BoundingVolumes::OBB3d::OBB3d ( OBB3d *  other )

inline

copy constructor

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OBB3d() [3/3]

adore::mad::BoundingVolumes::OBB3d::OBB3d ( float *  values )

inline

construct from a float array of length 12

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Member Function Documentation

bound_points2d()

void adore::mad::BoundingVolumes::OBB3d::bound_points2d ( float *  pL, float *  pR, float  zmin, float  zmax, int  count  )

inline

bound an object, which is described by a set of points on its left and right side left and right side are descriminated in order to find main axis for orientation of OBB

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bound_points3d()

void adore::mad::BoundingVolumes::OBB3d::bound_points3d ( int  n0, int  n1, float *  x0, float *  x1, float *  y0, float *  y1, float  z0, float  z1  )

inline

Bound two flat point clouds S0 and S1, which are located at the z position z0 and z1, by a parallelotope. S0 has n0 2d points in x and y, S1 has n1 2d points in x and y. The purpose of this function is to bound the straight line paths of all points in S0 to their counterparts in S1 over time (z).

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getAABox()

boost_box adore::mad::BoundingVolumes::OBB3d::getAABox ( )

inline

compute an axis aligned box containing the OBB3d

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getData()

float* adore::mad::BoundingVolumes::OBB3d::getData ( )

inline

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getPoint()

void adore::mad::BoundingVolumes::OBB3d::getPoint ( float  d1, float  d2, float  d3, float *  value  )

inline

compute a point by traveling along the edges of the OBB3d, starting at corner

isCollisionFree()

bool adore::mad::BoundingVolumes::OBB3d::isCollisionFree ( OBB3d *  other )

inline

Test whether two OBB3d overlap

Parameters

other

object to be tested against this

Returns

true if this and other do not intersect

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isPointInside()

bool adore::mad::BoundingVolumes::OBB3d::isPointInside ( float  x, float  y, float  z  )

inline

Test whether OBB3d contains a point

Returns

true if x,y,z is inside this

mean()

void adore::mad::BoundingVolumes::OBB3d::mean ( float *  x, int  n, float &  xm  )

inline

computes the mean of n values in one dimension

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projected_interval()

void adore::mad::BoundingVolumes::OBB3d::projected_interval ( float *  x, float *  y, int  n, float  bx, float  by, float  cx, float  cy, float &  bxmin, float &  bxmax  )

inline

computes the interval of the projection of a set of 2d points relative to a vector c unto a base vector b

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resetTransformation()

void adore::mad::BoundingVolumes::OBB3d::resetTransformation ( )

inline

removes all previously applied transformations from v by resetting to v_backup

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rotateZ()

void adore::mad::BoundingVolumes::OBB3d::rotateZ ( float  cos, float  sin, int  istart = 0  )

inline

rotate OBB3d around z

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set_obb()

void adore::mad::BoundingVolumes::OBB3d::set_obb ( float  cx, float  cy, float  psi, float  ac, float  bd, float  w, float  zmin, float  zmax  )

inline

sets the oriented bounding box from position, orientation and dimension information

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setData()

void adore::mad::BoundingVolumes::OBB3d::setData ( float *  values )

inline

reset with a float array of length 12

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transform_forwards()

void adore::mad::BoundingVolumes::OBB3d::transform_forwards ( float  cos_psi, float  sin_psi, float  dx, float  dy, float  dz  )

inline

rotate OBB3d by angle psi around z and shift by dx, dy, dz

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translate()

void adore::mad::BoundingVolumes::OBB3d::translate ( float *  t )

inline

translate the obb by dx=t[0], dy=t[1], dz=t[2]

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Member Data Documentation

v

float adore::mad::BoundingVolumes::OBB3d::v[12]

private

v\in \mathbb{R}^{3x4}, v=[c,e0,e1,e2], with c corner point, e_{0..2} edges of the box

v_backup

float adore::mad::BoundingVolumes::OBB3d::v_backup[12]

private

buffer space for v, contains original/untransformed version of v

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

• /home/fascar/temp/adore/libadore/libadore/adore/mad/include/adore/mad/boundingvolumes.h