Drake
HalfSpace Class Referencefinal

Definition of a half space. More...

#include <drake/geometry/shape_specification.h>

Inheritance diagram for HalfSpace:
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Collaboration diagram for HalfSpace:
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Public Member Functions

 HalfSpace ()
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 HalfSpace (const HalfSpace &)=default
 
HalfSpaceoperator= (const HalfSpace &)=default
 
 HalfSpace (HalfSpace &&)=default
 
HalfSpaceoperator= (HalfSpace &&)=default
 
- Public Member Functions inherited from Shape
virtual ~Shape ()
 
void Reify (ShapeReifier *reifier) const
 Causes this description to be reified in the given reifier. More...
 
std::unique_ptr< ShapeClone () const
 Creates a unique copy of this shape. More...
 

Static Public Member Functions

static Isometry3< doubleMakePose (const Vector3< double > &normal_F, const Vector3< double > &r_FP)
 Given a plane normal_F and a point on the plane X_FP, both expressed in frame F, creates the transform X_FC from the half-space's canonical space to frame F. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Shape
template<typename S >
 Shape (S *)
 Constructor available for derived class construction. More...
 
 Shape (const Shape &)=default
 
Shapeoperator= (const Shape &)=default
 
 Shape (Shape &&)=default
 
Shapeoperator= (Shape &&)=default
 

Detailed Description

Definition of a half space.

In its canonical frame, the plane defining the boundary of the half space is that frame's z = 0 plane. By implication, the plane's normal points in the +z direction and the origin lies on the plane. Other shapes are considered to be penetrating the half space if there exists a point on the test shape that lies on the side of the plane opposite the normal.

Constructor & Destructor Documentation

HalfSpace ( const HalfSpace )
default
HalfSpace ( HalfSpace &&  )
default
HalfSpace ( )

Member Function Documentation

Isometry3< double > MakePose ( const Vector3< double > &  normal_F,
const Vector3< double > &  r_FP 
)
static

Given a plane normal_F and a point on the plane X_FP, both expressed in frame F, creates the transform X_FC from the half-space's canonical space to frame F.

Parameters
normal_FA vector perpendicular to the half-space's plane boundary expressed in frame F. It must be a non-zero vector but need not be unit length.
r_FPA point lying on the half-space's plane boundary measured and expressed in frame F.
Return values
<tt>X_FC</tt>The pose of the canonical half-space in frame F.
Exceptions
std::logic_errorif the normal is close to a zero-vector (e.g., ‖normal_F‖₂ < ε).
HalfSpace& operator= ( const HalfSpace )
default
HalfSpace& operator= ( HalfSpace &&  )
default

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