AabbMaker< MeshType > Class Template Reference

Detailed Description

template<class MeshType>
class drake::geometry::AabbMaker< MeshType >

AabbMaker implements the logic to fit an Aabb to a collection of points.

The points are the position of a subset of vertices in a mesh. The Aabb will be measured and expressed in the same frame as the mesh.

This serves as the interface to Bvh, allowing the Bvh to fit volumes to geometry without knowing the details of the bounding volume types.

Template Parameters

MeshType

is either TriangleSurfaceMesh<T> or VolumeMesh<T>, where T is double or AutoDiffXd.

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

Public Member Functions
	AabbMaker (const MeshType &mesh_M, const std::set< int > &vertices)
	Constructs the maker with the reference mesh and the subset of vertices to fit (indicated by corresponding index). More...
Aabb	Compute () const
	Computes the bounding volume of the vertices specified in the constructor. More...
Does not allow copy, move, or assignment
	AabbMaker (const AabbMaker &)=delete
AabbMaker &	operator= (const AabbMaker &)=delete
	AabbMaker (AabbMaker &&)=delete
AabbMaker &	operator= (AabbMaker &&)=delete

Constructor & Destructor Documentation

AabbMaker() [1/3]

AabbMaker ( const AabbMaker< MeshType > &  )

delete

AabbMaker() [2/3]

AabbMaker ( AabbMaker< MeshType > &&  )

delete

AabbMaker() [3/3]

AabbMaker	(	const MeshType &	mesh_M,
		const std::set< int > &	vertices
	)

Constructs the maker with the reference mesh and the subset of vertices to fit (indicated by corresponding index).

Parameters

mesh_M	The mesh frame M.
vertices	The subset of vertices to fit.

Precondition

vertices is not empty, and each of its entry is in the range [0, mesh_M.num_vertices()).

Member Function Documentation

Compute()

Aabb Compute

(

)

const

Computes the bounding volume of the vertices specified in the constructor.

Return values

aabb_M

The axis-aligned bounding box posed in mesh frame M.

operator=() [1/2]

AabbMaker& operator= ( const AabbMaker< MeshType > &  )

delete

operator=() [2/2]

AabbMaker& operator= ( AabbMaker< MeshType > &&  )

delete

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

• drake/geometry/proximity/aabb.h