Box shape: box centered on (0 0 0), aligned with the axis with different sizes along X, Y and Z. More...

#include <BoxShape.h>

Inheritance diagram for SurgSim::Math::BoxShape:

Public Member Functions
	BoxShape (double sizeX=0.0, double sizeY=0.0, double sizeZ=0.0)
	Constructor. More...

	SURGSIM_CLASSNAME (SurgSim::Math::BoxShape)

int	getType () const override

Vector3d	getSize () const
	Get size of the box. More...

double	getSizeX () const
	Get size in X direction. More...

double	getSizeY () const
	Get size in Y direction. More...

double	getSizeZ () const
	Get size in Z direction. More...

double	getVolume () const override
	Get the volume of the shape. More...

Vector3d	getCenter () const override
	Get the volumetric center of the shape. More...

Matrix33d	getSecondMomentOfVolume () const override
	Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix. More...

Vector3d	getVertex (const int i) const
	Function that returns the local vertex location, given an index. More...

const std::array< Vector3d, 8 > &	getVertices () const
	Function that returns the local vertices' location. More...

bool	isValid () const override

Public Member Functions inherited from SurgSim::Math::Shape
	Shape ()
	Constructor.

virtual	~Shape ()
	Destructor.

virtual bool	isTransformable () const

virtual std::shared_ptr< Shape >	getTransformed (const RigidTransform3d &pose) const
	Get a copy of this shape with an applied rigid transform. More...

virtual void	setPose (const RigidTransform3d &pose)
	Set the pose on a transformable shape. More...

virtual void	updateShape ()
	Update the internals of a transformable shape.

virtual void	updateShapePartial ()
	Update some of the internals of a transformable shape. More...

virtual std::string	getClassName () const
	Get class name.

virtual const Math::Aabbd &	getBoundingBox () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Protected Member Functions
void	setSizeX (double sizeX)
	Set size in X direction. More...

void	setSizeY (double sizeY)
	Set size in Y direction. More...

void	setSizeZ (double sizeZ)
	Set size in Z direction. More...

Additional Inherited Members
Public Types inherited from SurgSim::Math::Shape
typedef ::SurgSim::Math::Vector3d	Vector3d

typedef ::SurgSim::Math::Matrix33d	Matrix33d

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase< Shape >
typedef ObjectFactory< Shape >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Shape >
static FactoryType &	getFactory ()

Protected Attributes inherited from SurgSim::Math::Shape
Math::Aabbd	m_aabb

Detailed Description

Box shape: box centered on (0 0 0), aligned with the axis with different sizes along X, Y and Z.

Constructor & Destructor Documentation

§ BoxShape()

SurgSim::Math::BoxShape::BoxShape	(	double	sizeX = `0.0`,
		double	sizeY = `0.0`,
		double	sizeZ = `0.0`
	)

explicit

Constructor.

Parameters

sizeX,sizeY,sizeZ the box sizes in all 3 directions (in m)

Member Function Documentation

§ getCenter()

SurgSim::Math::Vector3d SurgSim::Math::BoxShape::getCenter ( ) const

overridevirtual

Get the volumetric center of the shape.

Returns: The center of the shape

Implements SurgSim::Math::Shape.

§ getSecondMomentOfVolume()

SurgSim::Math::Matrix33d SurgSim::Math::BoxShape::getSecondMomentOfVolume ( ) const

overridevirtual

Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.

Returns: The 3x3 symmetric second moment matrix

Implements SurgSim::Math::Shape.

§ getSize()

Vector3d SurgSim::Math::BoxShape::getSize ( ) const

Get size of the box.

Returns: the size of the box (in m)

§ getSizeX()

double SurgSim::Math::BoxShape::getSizeX ( ) const

Get size in X direction.

Returns: the size in the X direction (in m)

§ getSizeY()

double SurgSim::Math::BoxShape::getSizeY ( ) const

Get size in Y direction.

Returns: the size in the Y direction (in m)

§ getSizeZ()

double SurgSim::Math::BoxShape::getSizeZ ( ) const

Get size in Z direction.

Returns: the size in the Z direction (in m)

§ getType()

int SurgSim::Math::BoxShape::getType ( ) const

overridevirtual

Returns: the type of the shape

Implements SurgSim::Math::Shape.

§ getVertex()

SurgSim::Math::Vector3d SurgSim::Math::BoxShape::getVertex ( const int i ) const

Function that returns the local vertex location, given an index.

Parameters

i	The vertex index.

Returns: The local vertex position.

§ getVertices()

const std::array< Vector3d, 8 > & SurgSim::Math::BoxShape::getVertices ( ) const

Function that returns the local vertices' location.

Returns: All eight vertices of the box

§ getVolume()

double SurgSim::Math::BoxShape::getVolume ( ) const

overridevirtual

Get the volume of the shape.

Returns: The volume of the shape (in m-3)

Implements SurgSim::Math::Shape.

§ isValid()

bool SurgSim::Math::BoxShape::isValid ( ) const

overridevirtual

Returns: True if size along X, Y, Z are bigger than or equal to 0; Otherwise, false.

Implements SurgSim::Math::Shape.

§ setSizeX()

void SurgSim::Math::BoxShape::setSizeX ( double sizeX )

protected

Set size in X direction.

Parameters

sizeX the size in the X direction (in m)

§ setSizeY()

void SurgSim::Math::BoxShape::setSizeY ( double sizeY )

protected

Set size in Y direction.

Parameters

sizeY the size in the Y direction (in m)

§ setSizeZ()

void SurgSim::Math::BoxShape::setSizeZ ( double sizeZ )

protected

Set size in Z direction.

Parameters

sizeZ the size in the Z direction (in m)

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

SurgSim/Math/BoxShape.h
SurgSim/Math/BoxShape.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ BoxShape()

Member Function Documentation

§ getCenter()

§ getSecondMomentOfVolume()

§ getSize()

§ getSizeX()

§ getSizeY()

§ getSizeZ()

§ getType()

§ getVertex()

§ getVertices()

§ getVolume()

§ isValid()

§ setSizeX()

§ setSizeY()

§ setSizeZ()