Drake C++ Documentation
HalfSpace Class Referencefinal

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.

#include <drake/geometry/shape_specification.h>

Public Member Functions

 HalfSpace ()
 ~HalfSpace () final
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, void *user_data=nullptr) 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...
std::string_view type_name () const
 Returns the (unqualified) type name of this Shape, e.g., "Box". More...
std::string to_string () const
 Returns a string representation of this shape. More...
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. More...

Static Public Member Functions

static math::RigidTransform< doubleMakePose (const Vector3< double > &Hz_dir_F, const Vector3< double > &p_FB)
 Creates the pose of a canonical half space in frame F. More...

Additional Inherited Members

- Protected Types inherited from Shape
using VariantShapeConstPtr = std::variant< const Box *, const Capsule *, const Convex *, const Cylinder *, const Ellipsoid *, const HalfSpace *, const Mesh *, const MeshcatCone *, const Sphere * >
 (Internal use only) All concrete subclasses, as const pointers. More...
- Protected Member Functions inherited from Shape
 Shape ()
 (Internal use only) Constructor for use by derived classes. More...
 Shape (const Shape &)=default
 (Internal use only) For derived classes. More...
Shapeoperator= (const Shape &)=default
 (Internal use only) For derived classes. More...
 Shape (Shape &&)=default
 (Internal use only) For derived classes. More...
Shapeoperator= (Shape &&)=default
 (Internal use only) For derived classes. More...

Constructor & Destructor Documentation

◆ HalfSpace() [1/3]

HalfSpace ( const HalfSpace )

◆ HalfSpace() [2/3]

HalfSpace ( HalfSpace &&  )

◆ HalfSpace() [3/3]

HalfSpace ( )

◆ ~HalfSpace()

~HalfSpace ( )

Member Function Documentation

◆ MakePose()

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.

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_FA 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_FBA point B lying on the half space's boundary measured and expressed in frame F.
Return values
X_FHThe pose of the canonical half-space in frame F.
std::exceptionif the normal is close to a zero-vector (e.g., ‖normal_F‖₂ < ε).

◆ operator=() [1/2]

HalfSpace& operator= ( const HalfSpace )

◆ operator=() [2/2]

HalfSpace& operator= ( HalfSpace &&  )

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