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Drake
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Drake
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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.
#include <drake/geometry/shape_specification.h>
Public Member Functions | |
| HalfSpace () | |
| ~HalfSpace () final | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable | |
| HalfSpace (const HalfSpace &)=default | |
| HalfSpace & | operator= (const HalfSpace &)=default |
| HalfSpace (HalfSpace &&)=default | |
| HalfSpace & | operator= (HalfSpace &&)=default |
| Public Member Functions inherited from Shape | |
| virtual | ~Shape () |
| void | Reify (ShapeReifier *reifier, void *user_data=nullptr) const |
| Causes this description to be reified in the given reifier. | |
| std::unique_ptr< Shape > | Clone () const |
| Creates a unique copy of this shape. | |
| std::string_view | type_name () const |
| Returns the (unqualified) type name of this Shape, e.g., "Box". | |
| std::string | to_string () const |
| Returns a string representation of this shape. | |
| template<typename ReturnType = void, typename Visitor> | |
| decltype(auto) | Visit (Visitor &&visitor) const |
| Calls the given visitor function with *this as the sole argument, but with *this downcast to be the shape's concrete subclass. | |
Static Public Member Functions | |
| static math::RigidTransform< double > | MakePose (const Vector3< double > &Hz_dir_F, const Vector3< double > &p_FB) |
| Creates the pose of a canonical half space in frame F. | |
Additional Inherited Members | |
| Protected Types inherited from Shape | |
| using | VariantShapeConstPtr |
| (Internal use only) All concrete subclasses, as const pointers. | |
| Protected Member Functions inherited from Shape | |
| Shape () | |
| (Internal use only) Constructor for use by derived classes. | |
| Shape (const Shape &)=default | |
| (Internal use only) For derived classes. | |
| Shape & | operator= (const Shape &)=default |
| (Internal use only) For derived classes. | |
| Shape (Shape &&)=default | |
| (Internal use only) For derived classes. | |
| Shape & | operator= (Shape &&)=default |
| (Internal use only) For derived classes. | |
| HalfSpace | ( | ) |
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final |
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static |
Creates the pose of a canonical half space in frame F.
The half space's normal is aligned to the positive z-axis of its canonical frame H. Given a vector that points in the same direction, measured in the F frame (Hz_dir_F) and a position vector to a point on the half space's boundary* expressed in the same frame, p_FB, creates the pose of the half space in frame F: X_FH.
| Hz_dir_F | A vector in the direction of the positive z-axis of the canonical frame expressed in frame F. It must be a non-zero vector but need not be unit length. |
| p_FB | A point B lying on the half space's boundary measured and expressed in frame F. |
| X_FH | The pose of the canonical half-space in frame F. |
| std::exception | if the normal is close to a zero-vector (e.g., ‖normal_F‖₂ < ε). |