SphereSpecification Class Reference

Detailed Description

Class modelling collision spheres used for collision checking.

This code uses Vector4d because Vector4d allows for SIMD vector operations when performing Isometry3d * Vector4d, which Vector3d does not.

#include <drake/planning/experimental/sphere_robot_model_collision_checker.h>

Public Member Functions
	SphereSpecification (const Eigen::Vector3d &p_BSo, double radius)
	Make a sphere.
	SphereSpecification (const Eigen::Vector4d &p_BSo, double radius)
	Make a sphere.
	SphereSpecification (double x, double y, double z, double radius)
	Make a sphere at position p_BSo, origin of sphere S in frame of body B.
const Eigen::Vector4d &	Origin () const
double	Radius () const
void	SetOrigin (const Eigen::Vector4d &p_BSo)

Constructor & Destructor Documentation

SphereSpecification() [1/3]

SphereSpecification	(	const Eigen::Vector3d &	p_BSo,
		double	radius )

Make a sphere.

Parameters

p_BSo	Origin of sphere S in frame of body B.
radius	Radius of sphere.

SphereSpecification() [2/3]

SphereSpecification	(	const Eigen::Vector4d &	p_BSo,
		double	radius )

Make a sphere.

Parameters

p_BSo	Origin of sphere S in frame of body B, as Eigen::Vector4d to match the fastest path in VoxelGrid<T> lookups. Note that last element of vector must be 1.0.
radius	Radius of sphere.

SphereSpecification() [3/3]

SphereSpecification	(	double	x,
		double	y,
		double	z,
		double	radius )

Make a sphere at position p_BSo, origin of sphere S in frame of body B.

Parameters

x	X value of p_BSo.
y	Y value of p_BSo.
z	Z value of p_BSo.
radius	Radius of sphere. p_BSo is provided by (x, y, z)

Member Function Documentation

Origin()

const Eigen::Vector4d & Origin

(

)

const

Radius()

double Radius

(

)

const

SetOrigin()

void SetOrigin

(

const Eigen::Vector4d &

p_BSo

)

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

• drake/planning/experimental/sphere_robot_model_collision_checker.h