Box Struct Reference

An oriented bounding box in the global frame. More...

#include <ArmarXSimulation/components/FakeObjectDetector/VisibilityCheck.h>

Public Member Functions
Eigen::Matrix3f	axes () const
Eigen::Vector3f	center () const
std::array< Eigen::Vector3f, 8 >	corners () const
	The eight corners in global coordinates.

Public Attributes
Eigen::Matrix4f	centerPose = Eigen::Matrix4f::Identity()
	Rotation = box axes, translation = box centre.
Eigen::Vector3f	halfExtents = Eigen::Vector3f::Zero()
	Half the extent along each local box axis.

Detailed Description

An oriented bounding box in the global frame.

Member Function Documentation

axes()

Eigen::Matrix3f axes

(

)

const

center()

Eigen::Vector3f center

(

)

const

corners()

std::array< Eigen::Vector3f, 8 > corners

(

)

const

The eight corners in global coordinates.

Member Data Documentation

centerPose

Eigen::Matrix4f centerPose = Eigen::Matrix4f::Identity()

Rotation = box axes, translation = box centre.

halfExtents

Eigen::Vector3f halfExtents = Eigen::Vector3f::Zero()

Half the extent along each local box axis.

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

• ArmarXSimulation/components/FakeObjectDetector/VisibilityCheck.h
• ArmarXSimulation/components/FakeObjectDetector/VisibilityCheck.cpp