SimTK::Geo::OrientedBox_< P > Class Template Reference

TODO: A 3d box oriented and positioned with respect to an unspecified frame F. More...

Public Member Functions
	OrientedBox_ ()
	Construct an uninitialized OrientedBox object; the dimensions and pose will be garbage. More...
	OrientedBox_ (const TransformP &X_FB, const Geo::Box_< P > &box)
	Construct an OrientedBox with the given box shape with positioned and oriented according to the given Transform X_FB which gives the box local frame B (at the box center) in an unspecifed frame F. More...
	OrientedBox_ (const TransformP &X_FB, const Vec3P &halfLengths)
	Construct an OrientedBox with the given location and half-dimensions. More...
OrientedBox_ &	setTransform (const TransformP &newX_FB)
	Change the pose of this box. More...
OrientedBox_ &	setHalfLengths (const Vec3P &halfLengths)
	Change the dimensions of this box. More...
const Vec3P &	getCenter () const
Vec3P &	updCenter ()
const RotationP &	getOrientation () const
RotationP &	updOrientation ()
const TransformP &	getTransform () const
TransformP &	updTransform ()
const Vec3P &	getHalfLengths () const
const Box_< P > &	getBox () const
Box_< P > &	updBox ()
bool	containsPoint (const Vec3P &pt_F) const
	Given a point measured and expressed in the base frame F, determine whether it is strictly contained in the box (just touching doesn't count). More...
OrientedBox_ &	stretchBoundary ()
	Stretch this box in place by a small amount to ensure that there will be no roundoff problems if this is used as a bounding box. More...

Detailed Description

template<class P>
class SimTK::Geo::OrientedBox_< P >

TODO: A 3d box oriented and positioned with respect to an unspecified frame F.

Constructor & Destructor Documentation

template<class P>

SimTK::Geo::OrientedBox_< P >::OrientedBox_ ( )

inline

Construct an uninitialized OrientedBox object; the dimensions and pose will be garbage.

template<class P>

SimTK::Geo::OrientedBox_< P >::OrientedBox_ ( const TransformP &  X_FB, const Geo::Box_< P > &  box  )

inline

Construct an OrientedBox with the given box shape with positioned and oriented according to the given Transform X_FB which gives the box local frame B (at the box center) in an unspecifed frame F.

template<class P>

SimTK::Geo::OrientedBox_< P >::OrientedBox_ ( const TransformP &  X_FB, const Vec3P &  halfLengths  )

inline

Construct an OrientedBox with the given location and half-dimensions.

Member Function Documentation

template<class P>

OrientedBox_& SimTK::Geo::OrientedBox_< P >::setTransform ( const TransformP &  newX_FB )

inline

Change the pose of this box.

template<class P>

OrientedBox_& SimTK::Geo::OrientedBox_< P >::setHalfLengths ( const Vec3P &  halfLengths )

inline

Change the dimensions of this box.

template<class P>

const Vec3P& SimTK::Geo::OrientedBox_< P >::getCenter ( ) const

inline

template<class P>

Vec3P& SimTK::Geo::OrientedBox_< P >::updCenter ( )

inline

template<class P>

const RotationP& SimTK::Geo::OrientedBox_< P >::getOrientation ( ) const

inline

template<class P>

RotationP& SimTK::Geo::OrientedBox_< P >::updOrientation ( )

inline

template<class P>

const TransformP& SimTK::Geo::OrientedBox_< P >::getTransform ( ) const

inline

template<class P>

TransformP& SimTK::Geo::OrientedBox_< P >::updTransform ( )

inline

template<class P>

const Vec3P& SimTK::Geo::OrientedBox_< P >::getHalfLengths ( ) const

inline

template<class P>

const Box_<P>& SimTK::Geo::OrientedBox_< P >::getBox ( ) const

inline

template<class P>

Box_<P>& SimTK::Geo::OrientedBox_< P >::updBox ( )

inline

template<class P>

bool SimTK::Geo::OrientedBox_< P >::containsPoint ( const Vec3P &  pt_F ) const

inline

Given a point measured and expressed in the base frame F, determine whether it is strictly contained in the box (just touching doesn't count).

Cost is about 23 flops.

template<class P>

OrientedBox_& SimTK::Geo::OrientedBox_< P >::stretchBoundary ( )

inline

Stretch this box in place by a small amount to ensure that there will be no roundoff problems if this is used as a bounding box.

The amount to stretch depends on the default tolerance for this precision, the dimensions, and the position of the box in space. A very large box, or a box that is very far from the origin, must be stretched more than a small one at the origin. Cost is 6 flops.

See also

Geo class for tolerance information.

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

• Geo.h
• Geo_Box.h