#include <geometry.h>

Public Types
enum	Type { BOX = 0, CIRCLE = 1, CONVEX = 2, SIMPLE = 3 }
	Type of geometry. More...

Public Member Functions
Constructors
	Geometry (const GeometryPtr &g)
	Constructor. More...

	Geometry (Type type, const Eigen::VectorXd &dimensions, const Eigen::Isometry2d &offset, const Eigen::Vector4d &color={0., 0., 0., 1.})
	Constructor. More...

	Geometry (Type type, const Eigen::VectorXd &dimensions, const Eigen::Vector3d &offset, const Eigen::Vector4d &color={0., 0., 0., 1.})
	Constructor. More...

	Geometry (Type type, const tf::EigenVector< Eigen::Vector2d > &points, const Eigen::Isometry2d &offset, const Eigen::Vector4d &color={0., 0., 0., 1.})
	Constructor. More...

	Geometry (Type type, const tf::EigenVector< Eigen::Vector2d > &points, const Eigen::Vector3d &offset, const Eigen::Vector4d &color={0., 0., 0., 1.})
	Constructor. More...

	Geometry (const Geometry &)=delete

	Geometry (Geometry &&)=delete

Debug
std::string	printGeometry () const
	Returns a string representation of the geometry. More...

Static Public Member Functions
static Type	stringToType (const std::string &geometry)
	Try to convert a string into a geometry type. Not case-sensitive. More...

static const std::string &	typeToString (const Type &type)
	Converts a geometry type into its string representation. More...

Public Attributes
const Type	type
	Type of geometry. More...

Eigen::VectorXd	dimensions
	The geometry's dimensions. More...

tf::EigenVector< Eigen::Vector2d >	points
	Point list for polygons. More...

Eigen::Isometry2d	offset
	Offset of geometry from base frame. More...

bool	isOffset
	Is this geometry offset? More...

Eigen::Vector4d	color
	The color to display this geometry as. More...

Static Public Attributes
static const unsigned int	TYPE_MAX = SIMPLE
	Maximum value a geometry type can have. More...

static const std::string	TYPE_STRINGS [] = {"box", "circle", "convex", "simple"}
	String representation of geometry type. More...

Detailed Description

Definition at line 24 of file geometry.h.

Member Enumeration Documentation

◆ Type

enum se2ez::Geometry::Type

Type of geometry.

Enumerator
BOX	A rectangular prism.
CIRCLE	A filled circle.
CONVEX	A convex polygon.
SIMPLE	A simple polygon (no holes).

Definition at line 31 of file geometry.h.

Constructor & Destructor Documentation

◆ Geometry() [1/7]

Geometry::Geometry ( const GeometryPtr & g )

Constructor.

Parameters

[in] g geometry to copy values from;

Definition at line 30 of file geometry.cpp.

◆ Geometry() [2/7]

Geometry::Geometry	(	Type	type,
		const Eigen::VectorXd &	dimensions,
		const Eigen::Isometry2d &	offset,
		const Eigen::Vector4d &	color = `{0., 0., 0., 1.}`
	)

Constructor.

Parameters

[in]	type	Type of the geometry(box or circle).
[in]	dimensions	The dimensions of this geometry.
[in]	offset	The offset of this geometry from its root frame.
[in]	color	Color to display for this geometry.

Definition at line 35 of file geometry.cpp.

◆ Geometry() [3/7]

Geometry::Geometry	(	Type	type,
		const Eigen::VectorXd &	dimensions,
		const Eigen::Vector3d &	offset,
		const Eigen::Vector4d &	color = `{0., 0., 0., 1.}`
	)

Constructor.

Parameters

[in]	type	Type of the geometry (box or circle).
[in]	dimensions	The dimensions of this geometry.
[in]	offset	The offset of this geometry from its root frame.
[in]	color	Color to display for this geometry.

Definition at line 57 of file geometry.cpp.

◆ Geometry() [4/7]

Geometry::Geometry	(	Type	type,
		const tf::EigenVector< Eigen::Vector2d > &	points,
		const Eigen::Isometry2d &	offset,
		const Eigen::Vector4d &	color = `{0., 0., 0., 1.}`
	)

Constructor.

Parameters

[in]	type	Type of the geometry (convex or polygon).
[in]	points	Points of the polygon.
[in]	offset	The offset of this geometry from its root frame.
[in]	color	Color to display for this geometry.

Definition at line 63 of file geometry.cpp.

◆ Geometry() [5/7]

Geometry::Geometry	(	Type	type,
		const tf::EigenVector< Eigen::Vector2d > &	points,
		const Eigen::Vector3d &	offset,
		const Eigen::Vector4d &	color = `{0., 0., 0., 1.}`
	)

Constructor.

Parameters

[in]	type	Type of the geometry (convex or polygon).
[in]	points	Points of the polygon.
[in]	offset	The offset of this geometry from its root frame.
[in]	color	Color to display for this geometry.

Definition at line 95 of file geometry.cpp.

◆ Geometry() [6/7]

se2ez::Geometry::Geometry ( const Geometry & )

delete

◆ Geometry() [7/7]

se2ez::Geometry::Geometry ( Geometry && )

delete

Member Function Documentation

◆ printGeometry()

std::string Geometry::printGeometry ( ) const

Returns a string representation of the geometry.

Returns: A string of the geometry.

Definition at line 101 of file geometry.cpp.

◆ stringToType()

Geometry::Type Geometry::stringToType ( const std::string & geometry )

static

Try to convert a string into a geometry type. Not case-sensitive.

Parameters

[in] geometry String of geometry type. See TYPE_STRINGS.

Returns: The type of geometry specified by the string, or an exception on failure.

Definition at line 13 of file geometry.cpp.

◆ typeToString()

const std::string & Geometry::typeToString ( const Type & type )

static

Converts a geometry type into its string representation.

Parameters

[in] type The type to convert.

Returns: The geometry type as a string.

Definition at line 22 of file geometry.cpp.

Member Data Documentation

◆ color

Eigen::Vector4d se2ez::Geometry::color

The color to display this geometry as.

Definition at line 122 of file geometry.h.

◆ dimensions

Eigen::VectorXd se2ez::Geometry::dimensions

The geometry's dimensions.

Definition at line 118 of file geometry.h.

◆ isOffset

bool se2ez::Geometry::isOffset

Is this geometry offset?

Definition at line 121 of file geometry.h.

◆ offset

Eigen::Isometry2d se2ez::Geometry::offset

Offset of geometry from base frame.

Definition at line 120 of file geometry.h.

◆ points

tf::EigenVector<Eigen::Vector2d> se2ez::Geometry::points

Point list for polygons.

Definition at line 119 of file geometry.h.

◆ type

const Type se2ez::Geometry::type

Type of geometry.

Definition at line 117 of file geometry.h.

◆ TYPE_MAX

const unsigned int se2ez::Geometry::TYPE_MAX = SIMPLE

static

Maximum value a geometry type can have.

Definition at line 40 of file geometry.h.

◆ TYPE_STRINGS

const std::string Geometry::TYPE_STRINGS = {"box", "circle", "convex", "simple"}

static

String representation of geometry type.

Definition at line 43 of file geometry.h.

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

/home/zak/code/se2ez_work/include/se2ez/core/geometry.h
/home/zak/code/se2ez_work/src/core/geometry.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ Geometry() [1/7]

◆ Geometry() [2/7]

◆ Geometry() [3/7]

◆ Geometry() [4/7]

◆ Geometry() [5/7]

◆ Geometry() [6/7]

◆ Geometry() [7/7]

Member Function Documentation

◆ printGeometry()

◆ stringToType()

◆ typeToString()

Member Data Documentation

◆ color

◆ dimensions

◆ isOffset

◆ offset

◆ points

◆ type

◆ TYPE_MAX

◆ TYPE_STRINGS