class for testing if two Oriented Bounding Boxes are overlapping More...

#include <OBBToleranceCollider.hpp>

Public Types
typedef rw::geometry::OBB< T >	BVType

typedef T	value_type

Public Types inherited from BVCollider< OBBToleranceCollider< double >, rw::geometry::OBB< double > >
typedef rw::geometry::OBB< double >	BVType

typedef BVTYPE::value_type	value_type

Public Member Functions
	OBBToleranceCollider ()
	constructor

virtual	~OBBToleranceCollider ()
	destructor

void	setTolerance (T tolerance)
	set the tolerance of the collider More...

bool	collides (const rw::geometry::OBB< T > &obbA, const rw::geometry::OBB< T > &obbB, const rw::math::Transform3D< T > &aTb)
	test if obbA is closer than tolerance to obbB. The aTb transform describe obbB relative to obbA's coordinate frame. This method is approximate and the obb's may lie up to sqrt(tolerance^2+tolerance^2) away from each other.

bool	collides (const rw::geometry::OBB< T > &obbA, const rw::geometry::OBB< T > &obbB, const rw::math::Transform3D< T > &aTb, double tolerance)
	test if obbA is closer than tolerance to obbB. The aTb transform describe obbB relative to obbA's coordinate frame. This method is approximate and the obb's may lie up to sqrt(tolerance^2+tolerance^2) away from each other.

Public Member Functions inherited from BVCollider< OBBToleranceCollider< double >, rw::geometry::OBB< double > >
	BVCollider ()
	constructor

virtual	~BVCollider ()
	destructor

bool	inCollision (const rw::geometry::OBB< double > &bvA, const rw::geometry::OBB< double > &bvB, const rw::math::Transform3D< value_type > &aTb)
	test if two bounding volumes are colliding More...

Detailed Description

class for testing if two Oriented Bounding Boxes are overlapping

Member Function Documentation

void setTolerance ( T tolerance )

inline

set the tolerance of the collider

Parameters

tolerance [in] meters

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