a raycast implementation that relies on a collision strategy for finding the collision between the ray and the scene. More...

#include <Raycaster.hpp>

Classes
struct	QueryResult
	result of a Raycast query. All contact information are described in ray coordinate frame. More...

Public Types
enum	QueryType { CLOSEST_HIT , ALL_HITS }
	result structure of ray cast

Public Member Functions
	Raycaster (double ray_length=100.0)
	constructor - only the frames in the vector are tested against each other.

	Raycaster (rw::proximity::CollisionStrategy::Ptr cdstrategy, double ray_length=100.0)
	constructor - only the frames in the vector are tested against each other.

virtual	~Raycaster ()
	destructor

void	setRayFrame (rw::core::Ptr< rw::kinematics::Frame > rayframe)

void	add (rw::core::Ptr< rw::geometry::Geometry > geom)

void	add (rw::core::Ptr< rw::models::Object > object)

void	add (rw::core::Ptr< rw::models::WorkCell > wc)

bool	shoot (const rw::math::Vector3D< double > &pos, const rw::math::Vector3D< double > &direction, QueryResult &result, const rw::kinematics::State &state)
	shoots a ray in the direction of the vector direction starting from the position vector pos. The frame associated with the geometry that is hit first by the ray is returned along with the intersection point described in world frame.

void	setCalculateNormals (bool enabled)
	set to true if normals should also be calculated More...

Detailed Description

a raycast implementation that relies on a collision strategy for finding the collision between the ray and the scene.

Member Function Documentation

void setCalculateNormals ( bool enabled )

inline

set to true if normals should also be calculated

Parameters

enabled

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