BSphere< T > Class Template Reference

class representing an Bounding sphere More...

#include <BSphere.hpp>

Inherits BV< rw::geometry::BSphere< double > >.

Public Types
typedef T	value_type
Public Types inherited from BV< rw::geometry::BSphere< double > >
typedef rw::geometry::BSphere< double >	DerivedType
typedef rw::geometry::BSphere< double >	BVType
typedef Traits< rw::geometry::BSphere< double > >::value_type	value_type
typedef rw::core::Ptr< BV< rw::geometry::BSphere< double > > >	Ptr

Public Member Functions
	BSphere (T radius=1.0)
	constructor using sphere center of (0, 0, 0) More...
	BSphere (const rw::math::Vector3D< T > &pos, T radius=1.0)
	constructor setting both sphere center and radius More...
	BSphere (const rw::geometry::BSphere< T > &bs)
	Copy constroctor. More...
const rw::math::Vector3D< T > &	getPosition () const
	get the position of the sphere center More...
void	setPosition (const rw::math::Vector3D< T > &p3d)
	set the sphere center coordinate More...
const T &	getRadius () const
	get the sphere radius More...
const T	getRadiusSqr () const
	get the sphere radius^2 More...
T	calcArea () const
	get the surface area More...
T	calcVolume () const
	get the volume More...
Public Member Functions inherited from BV< rw::geometry::BSphere< double > >
const rw::math::Vector3D< value_type > &	getPosition () const
value_type	calcArea () const
value_type	calcVolume () const

Static Public Member Functions
static BSphere< T >	fitEigen (const rw::geometry::TriMesh &tris)
	fit a sphere in $O(n)$ to a triangle mesh using Principal Component Analysis (PCA) where the eigen values of the vertices are used to compute the center of the sphere using the vector with the maximum spread (largest eigenvalue). More...
static BSphere< T >	fitEigen (const rw::core::Ptr< rw::geometry::TriMesh > &tris)
static BSphere< T >	fitEigen (const rw::core::Ptr< rw::geometry::GeometryData > &tris)

Friends
std::ostream &	operator<< (std::ostream &os, const BSphere< T > &sphere)
	Ouputs BSphere to stream. More...

Detailed Description

template<class T = double>
class rw::geometry::BSphere< T >

class representing an Bounding sphere

Constructor & Destructor Documentation

BSphere() [1/3]

BSphere ( T  radius = 1.0 )

inline

constructor using sphere center of (0, 0, 0)

Parameters

radius

[in] set the radius of the sphere

BSphere() [2/3]

BSphere ( const rw::math::Vector3D< T > &  pos, T  radius = 1.0  )

inline

constructor setting both sphere center and radius

Parameters

pos	[in] the position of the center of the sphere
radius	[in] set the radius of the sphere

BSphere() [3/3]

BSphere ( const rw::geometry::BSphere< T > &  bs )

inline

Copy constroctor.

Parameters

bs	[in] object to copy

Member Function Documentation

calcArea()

T calcArea ( ) const

inline

get the surface area

Returns

surface area

calcVolume()

T calcVolume ( ) const

inline

get the volume

Returns

volume

fitEigen()

static BSphere<T> fitEigen ( const rw::geometry::TriMesh &  tris )

static

fit a sphere in $O(n)$ to a triangle mesh using Principal Component Analysis (PCA) where the eigen values of the vertices are used to compute the center of the sphere using the vector with the maximum spread (largest eigenvalue).

Parameters

tris	[in] input mesh

Returns

bounding sphere

getPosition()

const rw::math::Vector3D<T>& getPosition ( ) const

inline

get the position of the sphere center

Returns

a Vector3D with the center coordinates

getRadius()

const T& getRadius ( ) const

inline

get the sphere radius

Returns

sphere radius

getRadiusSqr()

const T getRadiusSqr ( ) const

inline

get the sphere radius^2

Returns

sphere radius^2

setPosition()

void setPosition ( const rw::math::Vector3D< T > &  p3d )

inline

set the sphere center coordinate

Parameters

p3d	[in] the new center coordinates

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const BSphere< T > &  sphere  )

friend

Ouputs BSphere to stream.

Parameters

os	[in/out] stream to use
sphere

Returns

the resulting stream

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

• BSphere.hpp