Rectangular (undirected) bounding box in 2-D. More...

#include <box2d.h>

Collaboration diagram for apollo::common::math::Box2d:

Public Member Functions
	Box2d ()=default

	Box2d (const Vec2d &center, const double heading, const double length, const double width)
	Constructor which takes the center, heading, length and width. More...

	Box2d (const LineSegment2d &axis, const double width)
	Constructor which takes the heading-axis and the width of the box. More...

	Box2d (const AABox2d &aabox)
	Constructor which takes an AABox2d (axes-aligned box). More...

const Vec2d &	center () const
	Getter of the center of the box. More...

double	center_x () const
	Getter of the x-coordinate of the center of the box. More...

double	center_y () const
	Getter of the y-coordinate of the center of the box. More...

double	length () const
	Getter of the length. More...

double	width () const
	Getter of the width. More...

double	half_length () const
	Getter of half the length. More...

double	half_width () const
	Getter of half the width. More...

double	heading () const
	Getter of the heading. More...

double	cos_heading () const
	Getter of the cosine of the heading. More...

double	sin_heading () const
	Getter of the sine of the heading. More...

double	area () const
	Getter of the area of the box. More...

double	diagonal () const
	Getter of the size of the diagonal of the box. More...

void	GetAllCorners (std::vector< Vec2d > *const corners) const
	Getter of the corners of the box. More...

std::vector< Vec2d >	GetAllCorners () const
	Getter of the corners of the box. More...

bool	IsPointIn (const Vec2d &point) const
	Tests points for membership in the box. More...

bool	IsPointOnBoundary (const Vec2d &point) const
	Tests points for membership in the boundary of the box. More...

double	DistanceTo (const Vec2d &point) const
	Determines the distance between the box and a given point. More...

double	DistanceTo (const LineSegment2d &line_segment) const
	Determines the distance between the box and a given line segment. More...

double	DistanceTo (const Box2d &box) const
	Determines the distance between two boxes. More...

bool	HasOverlap (const LineSegment2d &line_segment) const
	Determines whether this box overlaps a given line segment. More...

bool	HasOverlap (const Box2d &box) const
	Determines whether these two boxes overlap. More...

AABox2d	GetAABox () const
	Gets the smallest axes-aligned box containing the current one. More...

void	RotateFromCenter (const double rotate_angle)
	Rotate from center. More...

void	Shift (const Vec2d &shift_vec)
	Shifts this box by a given vector. More...

void	LongitudinalExtend (const double extension_length)
	Extend the box longitudinally. More...

void	LateralExtend (const double extension_length)

std::string	DebugString () const
	Gets a human-readable description of the box. More...

void	InitCorners ()

double	max_x () const

double	min_x () const

double	max_y () const

double	min_y () const

Static Public Member Functions
static Box2d	CreateAABox (const Vec2d &one_corner, const Vec2d &opposite_corner)
	Creates an axes-aligned Box2d from two opposite corners. More...

Detailed Description

Rectangular (undirected) bounding box in 2-D.

This class is referential-agnostic, although our convention on the use of the word "heading" in this project (permanently set to be 0 at East) forces us to assume that the X/Y frame here is East/North. For disambiguation, we call the axis of the rectangle parallel to the heading direction the "heading-axis". The size of the heading-axis is called "length", and the size of the axis perpendicular to it "width".

Constructor & Destructor Documentation

◆ Box2d() [1/4]

apollo::common::math::Box2d::Box2d ( )

default

◆ Box2d() [2/4]

apollo::common::math::Box2d::Box2d	(	const Vec2d &	center,
		const double	heading,
		const double	length,
		const double	width
	)

Constructor which takes the center, heading, length and width.

Parameters

center	The center of the rectangular bounding box.
heading	The angle between the x-axis and the heading-axis, measured counter-clockwise.
length	The size of the heading-axis.
width	The size of the axis perpendicular to the heading-axis.

◆ Box2d() [3/4]

apollo::common::math::Box2d::Box2d	(	const LineSegment2d &	axis,
		const double	width
	)

Constructor which takes the heading-axis and the width of the box.

Parameters

axis	The heading-axis
width	The width of the box, which is taken perpendicularly to the heading direction.

◆ Box2d() [4/4]

apollo::common::math::Box2d::Box2d ( const AABox2d & aabox )

explicit

Constructor which takes an AABox2d (axes-aligned box).

Parameters

aabox The input AABox2d.

Member Function Documentation

◆ area()

double apollo::common::math::Box2d::area ( ) const

inline

Getter of the area of the box.

Returns: The product of its length and width

◆ center()

const Vec2d& apollo::common::math::Box2d::center ( ) const

inline

Getter of the center of the box.

Returns: The center of the box

◆ center_x()

double apollo::common::math::Box2d::center_x ( ) const

inline

Getter of the x-coordinate of the center of the box.

Returns: The x-coordinate of the center of the box

◆ center_y()

double apollo::common::math::Box2d::center_y ( ) const

inline

Getter of the y-coordinate of the center of the box.

Returns: The y-coordinate of the center of the box

◆ cos_heading()

double apollo::common::math::Box2d::cos_heading ( ) const

inline

Getter of the cosine of the heading.

Returns: The cosine of the heading

◆ CreateAABox()

static Box2d apollo::common::math::Box2d::CreateAABox	(	const Vec2d &	one_corner,
		const Vec2d &	opposite_corner
	)

static

Creates an axes-aligned Box2d from two opposite corners.

Parameters

one_corner	One of the corners
opposite_corner	The opposite corner to the first one

Returns: An axes-aligned Box2d

◆ DebugString()

std::string apollo::common::math::Box2d::DebugString ( ) const

Gets a human-readable description of the box.

Returns: A debug-string

◆ diagonal()

double apollo::common::math::Box2d::diagonal ( ) const

inline

Getter of the size of the diagonal of the box.

Returns: The diagonal size of the box

◆ DistanceTo() [1/3]

double apollo::common::math::Box2d::DistanceTo ( const Vec2d & point ) const

Determines the distance between the box and a given point.

Parameters

point The point whose distance to the box we wish to compute

Returns: A distance

◆ DistanceTo() [2/3]

double apollo::common::math::Box2d::DistanceTo ( const LineSegment2d & line_segment ) const

Determines the distance between the box and a given line segment.

Parameters

line_segment The line segment whose distance to the box we compute

Returns: A distance

◆ DistanceTo() [3/3]

double apollo::common::math::Box2d::DistanceTo ( const Box2d & box ) const

Determines the distance between two boxes.

Parameters

box	The box whose distance to this box we want to compute

Returns: A distance

◆ GetAABox()

AABox2d apollo::common::math::Box2d::GetAABox ( ) const

Gets the smallest axes-aligned box containing the current one.

Returns: An axes-aligned box

◆ GetAllCorners() [1/2]

void apollo::common::math::Box2d::GetAllCorners ( std::vector< Vec2d > *const corners ) const

Getter of the corners of the box.

Parameters

corners The vector where the corners are listed

◆ GetAllCorners() [2/2]

std::vector<Vec2d> apollo::common::math::Box2d::GetAllCorners ( ) const

Getter of the corners of the box.

Parameters

corners The vector where the corners are listed

◆ half_length()

double apollo::common::math::Box2d::half_length ( ) const

inline

Getter of half the length.

Returns: Half the length of the heading-axis

◆ half_width()

double apollo::common::math::Box2d::half_width ( ) const

inline

Getter of half the width.

Returns: Half the width of the box taken perpendicularly to the heading

◆ HasOverlap() [1/2]

bool apollo::common::math::Box2d::HasOverlap ( const LineSegment2d & line_segment ) const

Determines whether this box overlaps a given line segment.

Parameters

line_segment The line-segment

Returns: True if they overlap

◆ HasOverlap() [2/2]

bool apollo::common::math::Box2d::HasOverlap ( const Box2d & box ) const

Determines whether these two boxes overlap.

Parameters

line_segment The other box

Returns: True if they overlap

◆ heading()

double apollo::common::math::Box2d::heading ( ) const

inline

Getter of the heading.

Returns: The counter-clockwise angle between the x-axis and the heading-axis

◆ InitCorners()

void apollo::common::math::Box2d::InitCorners ( )

◆ IsPointIn()

bool apollo::common::math::Box2d::IsPointIn ( const Vec2d & point ) const

Tests points for membership in the box.

Parameters

point A point that we wish to test for membership in the box

Returns: True iff the point is contained in the box

◆ IsPointOnBoundary()

bool apollo::common::math::Box2d::IsPointOnBoundary ( const Vec2d & point ) const

Tests points for membership in the boundary of the box.

Parameters

point A point that we wish to test for membership in the boundary

Returns: True iff the point is a boundary point of the box

◆ LateralExtend()

void apollo::common::math::Box2d::LateralExtend ( const double extension_length )

◆ length()

double apollo::common::math::Box2d::length ( ) const

inline

Getter of the length.

Returns: The length of the heading-axis

◆ LongitudinalExtend()

void apollo::common::math::Box2d::LongitudinalExtend ( const double extension_length )

Extend the box longitudinally.

Parameters

extension_length the length to extend

◆ max_x()

double apollo::common::math::Box2d::max_x ( ) const

inline

◆ max_y()

double apollo::common::math::Box2d::max_y ( ) const

inline

◆ min_x()

double apollo::common::math::Box2d::min_x ( ) const

inline

◆ min_y()

double apollo::common::math::Box2d::min_y ( ) const

inline

◆ RotateFromCenter()

void apollo::common::math::Box2d::RotateFromCenter ( const double rotate_angle )

Rotate from center.

Parameters

rotate_angle Angle to rotate.

◆ Shift()

void apollo::common::math::Box2d::Shift ( const Vec2d & shift_vec )

Shifts this box by a given vector.

Parameters

shift_vec The vector determining the shift

◆ sin_heading()

double apollo::common::math::Box2d::sin_heading ( ) const

inline

Getter of the sine of the heading.

Returns: The sine of the heading

◆ width()

double apollo::common::math::Box2d::width ( ) const

inline

Getter of the width.

Returns: The width of the box taken perpendicularly to the heading

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

modules/common/math/box2d.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Box2d() [1/4]

◆ Box2d() [2/4]

◆ Box2d() [3/4]

◆ Box2d() [4/4]

Member Function Documentation

◆ area()

◆ center()

◆ center_x()

◆ center_y()

◆ cos_heading()

◆ CreateAABox()

◆ DebugString()

◆ diagonal()

◆ DistanceTo() [1/3]

◆ DistanceTo() [2/3]

◆ DistanceTo() [3/3]

◆ GetAABox()

◆ GetAllCorners() [1/2]

◆ GetAllCorners() [2/2]

◆ half_length()

◆ half_width()

◆ HasOverlap() [1/2]

◆ HasOverlap() [2/2]

◆ heading()

◆ InitCorners()

◆ IsPointIn()

◆ IsPointOnBoundary()

◆ LateralExtend()

◆ length()

◆ LongitudinalExtend()

◆ max_x()

◆ max_y()

◆ min_x()

◆ min_y()

◆ RotateFromCenter()

◆ Shift()

◆ sin_heading()

◆ width()