Box Struct Reference
A box obstacle in the ground plane, optionally rotated about its own centre. More...
#include <armarx/navigation/applications/global_planning_analysis/Scene.h>
Public Member Functions | |
| float | distanceTo (const Eigen::Vector2f &p) const |
Distance from p to the box surface. Zero if p is inside the box. | |
Public Attributes | |
| Eigen::Vector2f | max |
| Eigen::Vector2f | min |
| float | yaw {0.F} |
| Rotation about the box centre [rad]. | |
Detailed Description
A box obstacle in the ground plane, optionally rotated about its own centre.
Member Function Documentation
◆ distanceTo()
| float distanceTo | ( | const Eigen::Vector2f & | p | ) | const |
Here is the caller graph for this function:Member Data Documentation
◆ max
◆ min
◆ yaw
| float yaw {0.F} |
Rotation about the box centre [rad].
Zero leaves the box axis-aligned, which is what a scene description without a yaw field means.
Real furniture is rarely axis-aligned, and enclosing a rotated table in its axis-aligned bounding box inflates it by up to 41% on the diagonal – which would show up directly in any clearance the evaluation reports.
The documentation for this struct was generated from the following files:
