class representing an Oriented Bounding Box (OBB) More...

#include <OBB.hpp>

Public Types
typedef T	value_type

Public Types inherited from OBV< OBB< double > >
typedef OBB< double >	DerivedType

typedef OBB< double >	BVType

typedef Traits< OBB< double > >::value_type	value_type

typedef rw::core::Ptr< OBV< OBB< double > > >	Ptr

Public Member Functions
	OBB ()
	constructor

	OBB (rw::math::Transform3D< T > t3d, rw::math::Vector3D< T > halfLng)

const rw::math::Transform3D< T > &	getTransform () const

void	setTransform (rw::math::Transform3D< T > t3d)
	set the transformation of this OBB

const rw::math::Vector3D< T > &	getHalfLengths () const
	get the halflengths of this OBB

void	setHalfLengths (const rw::math::Vector3D< T > &halfLng)
	set the halflengths of the OBB

T	calcVolume () const
	calculate the volume of this OBB

T	calcArea () const
	calculates the total area of the box

TriMesh::Ptr	createMesh (bool local=false) const
	Creates a TriMesh representing the OBB. More...

Public Member Functions inherited from OBV< OBB< double > >
value_type	calcArea () const

value_type	calcVolume () const

Static Public Member Functions
static OBB< T >	buildTightOBB (const rw::geometry::TriMesh &tris, size_t index=0)

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

Detailed Description

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

class representing an Oriented Bounding Box (OBB)

Member Function Documentation

◆ createMesh()

TriMesh::Ptr createMesh ( bool local = false ) const

inline

Creates a TriMesh representing the OBB.

The triangles of the mesh is by default placed in the "global" frame corresponding to the frame in which the OBB is defined. In case the parameter local is set to true, the reference frame will be the frame of the OBB itself.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const OBB< T > &	obb
	)

friend

Ouputs OBB to stream.

Parameters

os	[in/out] stream to use
obb	[in] oriented bounding box

Returns: the resulting stream

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

OBB.hpp

Public Types

Public Member Functions

Static Public Member Functions