feat: Add AxisAlignedBox conversion helpers #667
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Adds helper functions to create AxisAlignedBox from shapes Origin shapes: Box, Sphere, Capsure, Cylinder Fixes gazebosim#666 Signed-off-by: anshium <[email protected]>
For the files AxisAlignedBoxHelpers.hh, AxisAlignedBoxHelpers.cc and AxisAlignedBoxHelpers.hh in detail/ Signed-off-by: anshium <[email protected]>
ahcorde
requested changes
Mar 10, 2025
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| /* | |||
| * Copyright (C) 2012 Open Source Robotics Foundation | |||
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| * Copyright (C) 2012 Open Source Robotics Foundation | |
| * Copyright (C) 2025 Open Source Robotics Foundation |
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| /// This class provides static methods for | ||
| /// converting different types of 3D | ||
| /// shapes, such as Box, Sphere, Capsule, | ||
| /// and Cylinder, into AxisAlignedBox | ||
| /// objects. |
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| /// This class provides static methods for | |
| /// converting different types of 3D | |
| /// shapes, such as Box, Sphere, Capsule, | |
| /// and Cylinder, into AxisAlignedBox | |
| /// objects. | |
| /// This class provides static methods for converting different types of 3D | |
| /// shapes, such as Box, Sphere, Capsule, and Cylinder, into AxisAlignedBox | |
| /// objects. |
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| /* | |||
| * Copyright (C) 2012 Open Source Robotics Foundation | |||
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| * Copyright (C) 2012 Open Source Robotics Foundation | |
| * Copyright (C) 2025 Open Source Robotics Foundation |
| AxisAlignedBox AxisAlignedBoxHelpers<Precision>::ConvertToAxisAlignedBox( | ||
| const Box<Precision> &_box) | ||
| { | ||
| Vector3<Precision> size = _box.Size(); |
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include "gz/math/Vector3.hh"
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"gz/math/Vector3.hh" gets included when <gz/math/AxisAlignedBox.hh> is included. Should we include it to be more explicit about it?
src/AxisAlignedBoxHelpers_TEST.cc
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| /* | |||
| * Copyright (C) 2018 Open Source Robotics Foundation | |||
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| * Copyright (C) 2018 Open Source Robotics Foundation | |
| * Copyright (C) 2025 Open Source Robotics Foundation |
9 tasks
style: improve comment formatting Signed-off-by: anshium <[email protected]>
Signed-off-by: anshium <[email protected]>
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Made the said changes. Working on the python bindings now :) |
also add tests Signed-off-by: anshium <[email protected]>
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Added the python bindings, along with tests. |
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Adds helper functions to create AxisAlignedBox from shapes Origin shapes: Box, Sphere, Capsure, Cylinder
🎉 New feature
Closes #666
Summary
Implementation of static helper functions in
gz::math::AxisAlignedBoxHelpersto convert shape objects (Box, Sphere, Capsule, Cylinder) into AxisAlignedBox objects.I have tried to write the functions in more or less the same format as other files. Since, the functions are template functions, I have kept their implementation in
gz/math/detail/AxisAlignedBoxHelpers.hhand the declarations ingz/math/AxisAlignedBoxHelpers.hh.I have also written comments in the same style as other files.
Also, I have added a few tests to check their correctness.
Test it
Testing can be done by creating a new shape:
math::Box<double> box(2.0, 4.0, 6.0);Then, using the helper function:
math::AxisAlignedBox aabb = math::AxisAlignedBoxHelpers<double>::ConvertToAxisAlignedBox(box);Then, can call functions like:
aabb.Min()The output would be:
Vector3d(-1.0, -2.0, -3.0)Checklist
codecheckpassed (See contributing)Doubts
I am not sure if we need an example / tutorial for these helper functions. Kindly let me know if we do, I will add them.
Also, kindly let me know if the python bindings have to be updated and where do I update the documentation.