Aabb Class Reference

Detailed Description

Axis-aligned bounding box.

The box is defined in a canonical frame B such that it is centered on Bo and its extents are aligned with B's axes. However, the box is posed in a hierarchical frame H. Because this is an axis-aligned bounding box, R_HB = I. Therefore the pose of the box is completely captured with p_HoBo_H (see center()).

Because of this, an instance of Aabb is a frame-dependent quantity and should be expressed that way. For example, for a mesh measured and expressed in frame M, the bounding boxes on its triangles will be measured and expressed in the same frame.

auto mesh_M = ...;
Aabb bv_M = ...;  // A bounding volume for mesh_M in the same frame.

#include <drake/geometry/proximity/aabb.h>

Public Types
template<typename MeshType>
using	Maker = AabbMaker<MeshType>
	The class used for various creation operations on this bounding volume.

Public Member Functions
	Aabb (const Vector3< double > &p_HoBo, const Vector3< double > &half_width)
	Constructs an axis-aligned bounding box measured and expressed in frame H.
const Vector3< double > &	center () const
	Returns the center of the box – equivalent to the position vector from the hierarchy frame's origin Ho to this box's origin Bo: p_HoBo_H.
const Vector3< double > &	half_width () const
	Returns the half_width.
Vector3< double >	lower () const
	The point on the axis-aligned box with the smallest measures along the Bx-, By-, and Bz-directions.
Vector3< double >	upper () const
	The point on the axis-aligned box with the largest measures along the Bx-, By-, and Bz-directions.
math::RigidTransformd	pose () const
	Returns the pose X_HB of the box frame B in the hierarchy frame H.
double	CalcVolume () const
bool	Equal (const Aabb &other) const
	Compares the values of the two Aabb instances for exact equality down to the last bit.
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Aabb (const Aabb &)=default
Aabb &	operator= (const Aabb &)=default
	Aabb (Aabb &&)=default
Aabb &	operator= (Aabb &&)=default

Static Public Member Functions
static bool	HasOverlap (const Aabb &a_G, const Aabb &b_H, const math::RigidTransformd &X_GH)
	Reports whether the two axis-aligned bounding boxes a_G and b_H intersect.
static bool	HasOverlap (const Aabb &aabb_G, const Obb &obb_H, const math::RigidTransformd &X_GH)
	Reports whether axis-aligned bounding box aabb_G intersects the given oriented bounding box obb_H.
static bool	HasOverlap (const Aabb &bv_H, const Plane< double > &plane_P, const math::RigidTransformd &X_PH)
	Checks whether bounding volume bv intersects the given plane.
static bool	HasOverlap (const Aabb &bv_H, const HalfSpace &hs_C, const math::RigidTransformd &X_CH)
	Checks whether bounding volume bv intersects the given half space.

Friends
template<typename>
class	internal::BvhUpdater

Member Typedef Documentation

Maker

template<typename MeshType>

using Maker = AabbMaker<MeshType>

The class used for various creation operations on this bounding volume.

Constructor & Destructor Documentation

Aabb() [1/3]

Aabb ( const Aabb & )

default

Aabb() [2/3]

Aabb ( Aabb && )

default

Aabb() [3/3]

Aabb	(	const Vector3< double > &	p_HoBo,
		const Vector3< double > &	half_width )

Constructs an axis-aligned bounding box measured and expressed in frame H.

Parameters

p_HoBo	The position vector from the hierarchy frame's origin to the box's canonical origin, expressed in frame H. The box is centered on Bo and aligned with Bx, By, and Bz.
half_width	The half measures of the box in each of the Bx, By, and Bz directions. (Also the half measures in the Hx, Hy, and Hz directions because R_HB = I.)

Precondition

half_width.x(), half_width.y(), half_width.z() are not negative.

Member Function Documentation

CalcVolume()

double CalcVolume

(

)

const

Returns

Volume of the bounding box.

center()

const Vector3< double > & center

(

)

const

Returns the center of the box – equivalent to the position vector from the hierarchy frame's origin Ho to this box's origin Bo: p_HoBo_H.

Equal()

bool Equal

(

const Aabb &

other

)

const

Compares the values of the two Aabb instances for exact equality down to the last bit.

Assumes that the quantities are measured and expressed in the same frame.

half_width()

const Vector3< double > & half_width

(

)

const

Returns the half_width.

HasOverlap() [1/4]

bool HasOverlap ( const Aabb & a_G, const Aabb & b_H, const math::RigidTransformd & X_GH )

static

Reports whether the two axis-aligned bounding boxes a_G and b_H intersect.

The poses of a_G and b_H are defined in their corresponding hierarchy frames G and H, respectively.

Parameters

a_G	The first axis-aligned box.
b_H	The second axis-aligned box.
X_GH	The relative pose between hierarchy frame G and hierarchy frame H.

Returns

true if the boxes intersect.

HasOverlap() [2/4]

bool HasOverlap ( const Aabb & aabb_G, const Obb & obb_H, const math::RigidTransformd & X_GH )

static

Reports whether axis-aligned bounding box aabb_G intersects the given oriented bounding box obb_H.

The poses of aabb_G and obb_H are defined in their corresponding hierarchy frames G and H, respectively.

Parameters

aabb_G	The axis-aligned box.
obb_H	The oriented box.
X_GH	The relative pose between the aabb hierarchy frame G and the obb hierarchy frame H.

Returns

true if the boxes intersect.

HasOverlap() [3/4]

bool HasOverlap ( const Aabb & bv_H, const HalfSpace & hs_C, const math::RigidTransformd & X_CH )

static

Checks whether bounding volume bv intersects the given half space.

The bounding volume is centered on its canonical frame B, and B is posed in the corresponding hierarchy frame H. The half space is defined in its canonical frame C (such that the boundary plane of the half space is perpendicular to Cz and Co lies on the boundary plane).

The box and halfspace intersect if any point within the bounding volume has a height less than or equal to zero.

Parameters

bv_H	The bounding box to test.
hs_C	The half space to test against the bv. The half space is expressed in Frame C, therefore, to evaluate the signed distance of a point with respect to it, that point must be measured and expressed in C.
X_CH	The relative pose between the hierarchy halfspace canonical frame C and the box frame B.

Returns

true if the half space intersects the box.

HasOverlap() [4/4]

bool HasOverlap ( const Aabb & bv_H, const Plane< double > & plane_P, const math::RigidTransformd & X_PH )

static

Checks whether bounding volume bv intersects the given plane.

The bounding volume is centered on its canonical frame B, and B is posed in the corresponding hierarchy frame H. The plane is defined in frame P.

The box and plane intersect if any point within the bounding volume has zero height (see CalcHeight()).

Parameters

bv_H	The bounding box to test.
plane_P	The plane to test against the bv. The plane is expressed in frame P, therefore, to evaluate the height of a point with respect to it, that point must be measured and expressed in P.
X_PH	The relative pose between the hierarchy frame H and the plane frame P.

Returns

true if the plane intersects the box.

lower()

Vector3< double > lower

(

)

const

The point on the axis-aligned box with the smallest measures along the Bx-, By-, and Bz-directions.

operator=() [1/2]

Aabb & operator= ( Aabb && )

default

operator=() [2/2]

Aabb & operator= ( const Aabb & )

default

pose()

math::RigidTransformd pose

(

)

const

Returns the pose X_HB of the box frame B in the hierarchy frame H.

upper()

Vector3< double > upper

(

)

const

The point on the axis-aligned box with the largest measures along the Bx-, By-, and Bz-directions.

Friends And Related Symbol Documentation

internal::BvhUpdater

template<typename>

friend class internal::BvhUpdater

friend

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

• drake/geometry/proximity/aabb.h