33#ifndef DART_DYNAMICS_POINTCLOUDSHAPE_HPP_
34#define DART_DYNAMICS_POINTCLOUDSHAPE_HPP_
39#include <octomap/Pointcloud.h>
58 const std::string&
getType()
const override;
70 void addPoint(
const Eigen::Vector3d& point);
73 void addPoint(
const std::vector<Eigen::Vector3d>& points);
76 void setPoint(
const std::vector<Eigen::Vector3d>& points);
80 void setPoints(::octomap::Pointcloud& pointCloud);
83 void addPoints(::octomap::Pointcloud& pointCloud);
87 const std::vector<Eigen::Vector3d>&
getPoints()
const;
The PointCloudShape represents point cloud data.
Definition PointCloudShape.hpp:47
double mVisualSize
The size of visual object that represents each point.
Definition PointCloudShape.hpp:112
std::vector< Eigen::Vector3d > mPoints
List of points.
Definition PointCloudShape.hpp:109
std::size_t getNumPoints() const
Returns the number of points.
Definition PointCloudShape.cpp:134
double getVisualSize() const
Returns size of visual object that represents each point.
Definition PointCloudShape.cpp:152
void addPoint(const Eigen::Vector3d &point)
Adds a point to this point cloud.
Definition PointCloudShape.cpp:85
Eigen::Matrix3d computeInertia(double mass) const override
Computes the inertia.
Definition PointCloudShape.cpp:66
void removeAllPoints()
Remove all the points.
Definition PointCloudShape.cpp:140
~PointCloudShape() override=default
Destructor.
void reserve(std::size_t size)
Reserves the point list by size.
Definition PointCloudShape.cpp:79
const std::string & getType() const override
Returns a string representing the shape type.
Definition PointCloudShape.cpp:60
void updateBoundingBox() const override
Updates bounding box.
Definition PointCloudShape.cpp:165
void setPoint(const std::vector< Eigen::Vector3d > &points)
Replaces points with points.
Definition PointCloudShape.cpp:101
void updateVolume() const override
Updates volume.
Definition PointCloudShape.cpp:158
const std::vector< Eigen::Vector3d > & getPoints() const
Returns the list of points.
Definition PointCloudShape.cpp:128
void setVisualSize(double size)
Sets size of visual object that represents each point.
Definition PointCloudShape.cpp:146
static const std::string & getStaticType()
Returns shape type for this class.
Definition PointCloudShape.cpp:72
Definition BulletCollisionDetector.cpp:63