Revert OBB additions

moveit · Nov 26, 2024 · ad23c24 · ad23c24
1 parent 3d3b942
commit ad23c24
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Showing 2 changed files with 24 additions and 24 deletions.
diff --git a/include/geometric_shapes/bodies.h b/include/geometric_shapes/bodies.h
@@ -243,7 +243,7 @@ class Body
 
   /** \brief Compute the oriented bounding box for the body, in its current
      pose. Scaling and padding are accounted for. */
-  virtual void computeBoundingBox(OBB& bbox) const = 0;
+  // virtual void computeBoundingBox(OBB& bbox) const = 0;
 
   /** \brief Get a clone of this body, but one that is located at the pose \e pose */
   inline BodyPtr cloneAt(const Eigen::Isometry3d& pose) const
@@ -312,7 +312,7 @@ class Sphere : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const override;
+  // void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -365,7 +365,7 @@ class Cylinder : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const override;
+  // void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -428,7 +428,7 @@ class Box : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const override;
+  // void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -491,7 +491,7 @@ class ConvexMesh : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const override;
+  // void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 

diff --git a/src/bodies.cpp b/src/bodies.cpp
@@ -206,14 +206,14 @@ void bodies::Sphere::computeBoundingBox(bodies::AABB& bbox) const
   bbox.extendWithTransformedBox(transform, Eigen::Vector3d(2 * radiusU_, 2 * radiusU_, 2 * radiusU_));
 }
 
-void bodies::Sphere::computeBoundingBox(bodies::OBB& bbox) const
-{
-  // it's a sphere, so we do not rotate the bounding box
-  Eigen::Isometry3d transform = Eigen::Isometry3d::Identity();
-  transform.translation() = getPose().translation();
+// void bodies::Sphere::computeBoundingBox(bodies::OBB& bbox) const
+// {
+//   // it's a sphere, so we do not rotate the bounding box
+//   Eigen::Isometry3d transform = Eigen::Isometry3d::Identity();
+//   transform.translation() = getPose().translation();
 
-  bbox.setPoseAndExtents(transform, 2 * Eigen::Vector3d(radiusU_, radiusU_, radiusU_));
-}
+//   bbox.setPoseAndExtents(transform, 2 * Eigen::Vector3d(radiusU_, radiusU_, radiusU_));
+// }
 
 bool bodies::Sphere::samplePointInside(random_numbers::RandomNumberGenerator& rng, unsigned int max_attempts,
                                        Eigen::Vector3d& result) const
@@ -436,10 +436,10 @@ void bodies::Cylinder::computeBoundingBox(bodies::AABB& bbox) const
   bbox.extend(pb + e);
 }
 
-void bodies::Cylinder::computeBoundingBox(bodies::OBB& bbox) const
-{
-  bbox.setPoseAndExtents(getPose(), 2 * Eigen::Vector3d(radiusU_, radiusU_, length2_));
-}
+// void bodies::Cylinder::computeBoundingBox(bodies::OBB& bbox) const
+// {
+//   bbox.setPoseAndExtents(getPose(), 2 * Eigen::Vector3d(radiusU_, radiusU_, length2_));
+// }
 
 bool bodies::Cylinder::intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                                      EigenSTL::vector_Vector3d* intersections, unsigned int count) const
@@ -677,10 +677,10 @@ void bodies::Box::computeBoundingBox(bodies::AABB& bbox) const
   bbox.extendWithTransformedBox(getPose(), 2 * Eigen::Vector3d(length2_, width2_, height2_));
 }
 
-void bodies::Box::computeBoundingBox(bodies::OBB& bbox) const
-{
-  bbox.setPoseAndExtents(getPose(), 2 * Eigen::Vector3d(length2_, width2_, height2_));
-}
+// void bodies::Box::computeBoundingBox(bodies::OBB& bbox) const
+// {
+//   bbox.setPoseAndExtents(getPose(), 2 * Eigen::Vector3d(length2_, width2_, height2_));
+// }
 
 bool bodies::Box::intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                                 EigenSTL::vector_Vector3d* intersections, unsigned int count) const
@@ -1174,10 +1174,10 @@ void bodies::ConvexMesh::computeBoundingBox(bodies::AABB& bbox) const
   bounding_box_.computeBoundingBox(bbox);
 }
 
-void bodies::ConvexMesh::computeBoundingBox(bodies::OBB& bbox) const
-{
-  bounding_box_.computeBoundingBox(bbox);
-}
+// void bodies::ConvexMesh::computeBoundingBox(bodies::OBB& bbox) const
+// {
+//   bounding_box_.computeBoundingBox(bbox);
+// }
 
 bool bodies::ConvexMesh::isPointInsidePlanes(const Eigen::Vector3d& point) const
 {