Base class for all geometric representations of a rigid model part (link). More...
#include <model/Geometry.h>
Inheritance diagram for Geometry:
Public Member Functions | |
| virtual | ~Geometry () |
| virtual Polygon2f | getFootprint (const RigidTransform3f &origin) const =0 |
| Computes the footprint of the geometry primitive depending on the pose of the primitive that is specified by its origin. More... | |
| virtual Box3f | getBoundingBox (const RigidTransform3f &origin) const =0 |
| Computes the axis aligned bounding box of the geometry primitive depending on the pose of the primitive that is specified by its origin. More... | |
| Class const & | getClass () const |
Static Public Member Functions | |
| static PseudoClass const & | CLASS () |
Protected Member Functions | |
| virtual Class const & | internalGetClass () const=0 |
Detailed Description
Base class for all geometric representations of a rigid model part (link).
Geometric representations allow to compute a footprint and a bounding box e.g. for collision detection or navigation tasks.
Constructor & Destructor Documentation
◆ ~Geometry()
|
inlinevirtual |
Member Function Documentation
◆ getFootprint()
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pure virtual |
Computes the footprint of the geometry primitive depending on the pose of the primitive that is specified by its origin.
The footprint is the projection of the primitives outline onto the xy-plane. The location of the origin within the primitive depends on the actual primitive.
Implemented in Polygon, Mesh, Sphere, Cylinder, Cone, and Box.
◆ getBoundingBox()
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pure virtual |
The documentation for this class was generated from the following file:
- include/model/Geometry.h
