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OBB< T > Class Template Reference

class representing an Oriented Bounding Box (OBB) More...

#include <OBB.hpp>

Inherits OBV< OBB< double > >.

Public Types

typedef T value_type
- Public Types inherited from OBV< OBB< double > >
typedef OBB< double > DerivedType
typedef OBB< double > BVType
typedef Traits< OBB< double > >::value_type value_type
typedef rw::core::Ptr< OBV< OBB< double > > > Ptr

Public Member Functions

 OBB ()
 OBB (rw::math::Transform3D< T > t3d, rw::math::Vector3D< T > halfLng)
const rw::math::Transform3D< T > & getTransform () const
void setTransform (rw::math::Transform3D< T > t3d)
 set the transformation of this OBB
const rw::math::Vector3D< T > & getHalfLengths () const
 get the halflengths of this OBB
void setHalfLengths (const rw::math::Vector3D< T > &halfLng)
 set the halflengths of the OBB
calcVolume () const
 calculate the volume of this OBB
calcArea () const
 calculates the total area of the box
TriMesh::Ptr createMesh (bool local=false) const
 Creates a TriMesh representing the OBB. More...
- Public Member Functions inherited from OBV< OBB< double > >
value_type calcArea () const
value_type calcVolume () const

Static Public Member Functions

static OBB< T > buildTightOBB (const rw::geometry::TriMesh &tris, size_t index=0)


std::ostream & operator<< (std::ostream &os, const OBB< T > &obb)
 Ouputs OBB to stream. More...

Detailed Description

template<class T = double>
class rw::geometry::OBB< T >

class representing an Oriented Bounding Box (OBB)

Member Function Documentation

◆ createMesh()

TriMesh::Ptr createMesh ( bool  local = false) const

Creates a TriMesh representing the OBB.

The triangles of the mesh is by default placed in the "global" frame corresponding to the frame in which the OBB is defined. In case the parameter local is set to true, the reference frame will be the frame of the OBB itself.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<< ( std::ostream &  os,
const OBB< T > &  obb 

Ouputs OBB to stream.

os[in/out] stream to use
obb[in] oriented bounding box
the resulting stream

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