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

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

Public Member Functions
	Obb (const math::RigidTransformd &X_HB, const Vector3< double > &half_width)
	Constructs an oriented bounding box measured and expressed in frame H. More...

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`. More...

const Vector3< double > &	half_width () const
	Returns the half_width – equivalent to the position vector from the box's center Bo to the box's first octant (+,+,+) corner U expressed in the box's frame B: `p_BoU_B`. More...

const math::RigidTransformd &	pose () const
	Returns the pose X_HB of the box frame B in the hierarchy frame H. More...

double	CalcVolume () const

bool	Equal (const Obb &other) const
	Compares the values of the two Obb instances for exact equality down to the last bit. More...

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Obb (const Obb &)=default

Obb &	operator= (const Obb &)=default

	Obb (Obb &&)=default

Obb &	operator= (Obb &&)=default

Static Public Member Functions
static bool	HasOverlap (const Obb &a_G, const Obb &b_H, const math::RigidTransformd &X_GH)
	Reports whether the two oriented bounding boxes `a_G` and `b_H` intersect. More...

static bool	HasOverlap (const Obb &obb_G, const Aabb &aabb_H, const math::RigidTransformd &X_GH)
	Reports whether oriented bounding box `obb_G` intersects the given axis-aligned bounding box `aabb_H`. More...

static bool	HasOverlap (const Obb &bv_H, const internal::Plane< double > &plane_P, const math::RigidTransformd &X_PH)
	(Internal use only) Checks whether bounding volume `bv` intersects the given plane. More...

static bool	HasOverlap (const Obb &bv_H, const HalfSpace &hs_C, const math::RigidTransformd &X_CH)
	Checks whether bounding volume `bv` intersects the given half space. More...

Friends
class	ObbTester

Member Typedef Documentation

◆ Maker

using Maker = ObbMaker<MeshType>

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

Constructor & Destructor Documentation

◆ Obb() [1/3]

Obb ( const Obb & )

default

◆ Obb() [2/3]

Obb ( Obb && )

default

◆ Obb() [3/3]

Obb	(	const math::RigidTransformd &	X_HB,
		const Vector3< double > &	half_width
	)

Constructs an oriented bounding box measured and expressed in frame H.

Parameters

X_HB	The pose of the box in the hierarchy 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.

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 Obb & other ) const

Compares the values of the two Obb 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 – equivalent to the position vector from the box's center Bo to the box's first octant (+,+,+) corner U expressed in the box's frame B: p_BoU_B.

◆ HasOverlap() [1/4]

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

static

Reports whether the two oriented 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 oriented box.
b_H	The second oriented box.
X_GH	The relative pose between hierarchy frame G and hierarchy frame H.

Returns: true if the boxes intersect.

◆ HasOverlap() [2/4]

static bool HasOverlap	(	const Obb &	obb_G,
		const Aabb &	aabb_H,
		const math::RigidTransformd &	X_GH
	)

static

Reports whether oriented bounding box obb_G intersects the given axis-aligned bounding box aabb_H.

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

Parameters

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

Returns: true if the boxes intersect.

◆ HasOverlap() [3/4]

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

static

(Internal use only) 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.

◆ HasOverlap() [4/4]

static bool HasOverlap	(	const Obb &	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).

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 frame H and the half space canonical frame C.

Returns: true if the half space intersects the box.

◆ operator=() [1/2]

Obb& operator= ( Obb && )

default

◆ operator=() [2/2]

Obb& operator= ( const Obb & )

default

◆ pose()

const math::RigidTransformd& pose ( ) const

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

Friends And Related Function Documentation

◆ ObbTester

friend class ObbTester

friend

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

drake/geometry/proximity/obb.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Member Typedef Documentation

◆ Maker

Constructor & Destructor Documentation

◆ Obb() [1/3]

◆ Obb() [2/3]

◆ Obb() [3/3]

Member Function Documentation

◆ CalcVolume()

◆ center()

◆ Equal()

◆ half_width()

◆ HasOverlap() [1/4]

◆ HasOverlap() [2/4]

◆ HasOverlap() [3/4]

◆ HasOverlap() [4/4]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pose()

Friends And Related Function Documentation

◆ ObbTester