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OSCAR::Box Class Reference
[ObstacleAvoidance]

A box obstacle used for modeling of objects in workcells. More...

#include <Box.hpp>

Inheritance diagram for OSCAR::Box:

[legend]List of all members.


Public Methods
	Box (const double xDimen, const double yDimen, const double zDimen, const Xform &pose)
	Box (const Box &arg)
	Box ()
virtual Box *	Clone () const
const vector< Plane > &	GetPlanes () const
const vector< unsigned int > &	GetAdjacentVertices (unsigned int index) const
const vector< unsigned int > &	GetAdjacentPlanes (unsigned int index) const
const vector< Vector3 > &	GetPoints (ReferenceFrame globalOrLocal=Global) const
bool	SetProperties (const double xDimen, const double yDimen, const double zDimen, const Xform &pose)
bool	SetXDim (const double xDimen)
bool	SetYDim (const double yDimen)
bool	SetZDim (const double zDimen)
bool	SetLocalTransform (const Xform &inFrameTransform)
double	GetXDim () const
double	GetYDim () const
double	GetZDim () const
const Xform &	GetLocalTransform () const
virtual bool	Update (const Xform &transform)
Box &	operator= (const Box &rhs)
Xform &	GetCompleteXform ()
Protected Methods
bool	populatePoints ()
bool	updatePlanes ()
bool	populateMaps ()
bool	TransformInternalToLocal ()
virtual bool	createSolid ()
Protected Attributes
double	xDim
double	yDim
double	zDim
Xform	localTransform
Xform	fullTransform
std::vector< Plane >	planes
std::vector< Vector3 >	internalPoint
std::vector< Vector3 >	point [2]
unsigned int	vertexMap [8][3]
unsigned int	planeMap [8][3]

Detailed Description

The full box is specified by 8 corner points, which form 3 pairs of parallel, zero radius planes.

Author:: Andrew Spencer

Constructor & Destructor Documentation

OSCAR::Box::Box ( const double xDimen,

const double yDimen,

const double zDimen,

const Xform & pose

)

Constructor Constructs a Box from the 3 dimensions of the box and an inFrameTransformation Xform. This Xform positions the box from it's default position (with a center at (0,0,0)) to it's actual position w.r.t. the local frame. This local frame can then be moved around using the Update() function. All global positions and points for the box are automatically populated using an identity transformation.

Parameters:

xDimen The dimension of the box in the x direction

yDimen The dimension of the box in the y direction

zDimen The dimension of the box in the z direction

pose An Xform which specifies the pose of the box in w.r.t. its local frame. This Xform is in the local frame.

OSCAR::Box::Box ( const Box & arg ) [inline]

Copy Constructor.

Parameters:

arg The box obstacle to copy

OSCAR::Box::Box ( )

Constructor Use to make arrays of Box objects. Note: SetProperties(...) must be called before any other function, and that the local transform defaults to the identity matrix.

Member Function Documentation

virtual Box* OSCAR::Box::Clone ( ) const [virtual]

Clone this object.

Returns:
A pointer to the cloned object which MUST be deleted or there will be memory leak.

Implements OSCAR::Primitive.

virtual bool OSCAR::Box::createSolid ( ) [protected, virtual]

Reimplemented from OSCAR::Primitive.

const vector<unsigned int>& OSCAR::Box::GetAdjacentPlanes ( unsigned int index ) const

Gives the plane adjacency information for the Box. Given the index (from the vector of Vector3s returned by GetPoints()) of a vertex of the box, this function will return the indices (from the vector of Planes returned by the GetPlanes() function) of the three planes which contain the vertex specified by the inputted index.

Parameters:

unsigned int index The index (from the vector of Vector3s returned by GetPoints()) of the point of interest

Returns:
A const vector of unsigned ints of length three. These unsigned integers correspond to indices of the vector of Planes returned by the GetPlanes() function

const vector<unsigned int>& OSCAR::Box::GetAdjacentVertices ( unsigned int index ) const

Gives the edge adjacency information for the Box. Given the index (from the vector of Vector3s returned by GetPoints()) of a vertex of the box, this function will return the indices of the three points which form edges with the point corresponding to the given index.

Parameters:

unsigned int index The index (from the vector of Vector3s returned by GetPoints()) of the point of interest

Returns:
A const vector of unsigned ints of length three. These unsigned integers correspond to indices of the vector of Vector3s returned by the GetPoints() function.

Xform& OSCAR::Box::GetCompleteXform ( )

const Xform& OSCAR::Box::GetLocalTransform ( ) const [inline]

Get the local frame transformation for the box.

Returns:
A reference to a const Xform which is the local frame transformation

const vector<Plane>& OSCAR::Box::GetPlanes ( ) const [inline]

Get a reference to the vector that holds the six planes that make up the box. How these planes relate to the 8 points obtained from the GetPoints() function (IE which planes contain which points) can be obtained through the GetPlaneMap() function.

Returns:
A reference to the planes vector

const vector<Vector3>& OSCAR::Box::GetPoints ( ReferenceFrame globalOrLocal = Global ) const [inline]

Get the eight corner points of the box, in either the local or the global frame. The relationship of these eight points (IE which points are directly connected by edges) can be obtained by using the "GetVertexMap()" function.

Parameters:

Reference localOrGlobal Which frame you would like the points in. Defaults to global.

Returns:
A reference to the corner points

double OSCAR::Box::GetXDim ( ) const [inline]

Get the x dimension of the box.

Returns:
The x dimension of the box

double OSCAR::Box::GetYDim ( ) const [inline]

Get the y dimension of the box.

Returns:
The y dimension of the box

double OSCAR::Box::GetZDim ( ) const [inline]

Get the z dimension of the box.

Returns:
The z dimension of the box

Box& OSCAR::Box::operator= ( const Box & rhs )

bool OSCAR::Box::populateMaps ( ) [protected]

bool OSCAR::Box::populatePoints ( ) [protected]

bool OSCAR::Box::SetLocalTransform ( const Xform & inFrameTransform )

Set the local frame transform of the box. Update() is automatically called using the last Xform Update() was called with (Identity if Update() has not been called).

Parameters:

inFrameTransform The new local frame transform (Xform) for the box

Returns:
true

bool OSCAR::Box::SetProperties ( const double xDimen,

const double yDimen,

const double zDimen,

const Xform & pose

)

Update location and size of the box. Update() is automatically called using the last Xform Update() was called with (an Xform of identity is used if Update() has not been called).

Parameters:

xDimen The dimension of the box in the x direction

yDimen The dimension of the box in the y direction

zDimen The dimension of the box in the z direction

pose An Xform which specifies the pose of the box in w.r.t. its local frame. This Xform is in the local frame.

Returns:
true

bool OSCAR::Box::SetXDim ( const double xDimen )

Update the x dimension of the box.

Parameters:

xDimen The new dimension of the box in the x direction

Returns:
true

bool OSCAR::Box::SetYDim ( const double yDimen )

Update the y dimension of the box.

Parameters:

yDimen The new dimension of the box in the y direction

Returns:
true

bool OSCAR::Box::SetZDim ( const double zDimen )

Update the z dimension of the box.

Parameters:

zDimen The new dimension of the box in the z direction

Returns:
true

bool OSCAR::Box::TransformInternalToLocal ( ) [protected]

virtual bool OSCAR::Box::Update ( const Xform & transform ) [virtual]

Transform the points from the local frame to the global frame.

Parameters:

transform The Xform to use for the transformation

Returns:
true upon completion

Reimplemented from OSCAR::Primitive.