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Public Member Functions | Public Attributes | List of all members
BodyFeatures Class Reference

#include <disturbance.h>

Public Member Functions

 BodyFeatures (b2Transform _pose)
 
void setHalfLength (const float &f)
 
void setHalfWidth (const float &f)
 
bool match (const BodyFeatures &, Bundle *bundle=NULL, b2Transform t=b2Transform_zero)
 
float width () const
 
float length () const
 
float area () const
 
std::vector< b2Vec2 > vertices () const
 
std::vector< cv::Point2f > vertices_cv () const
 
bool is_point () const
 
Bundle get_bundle ()
 

Public Attributes

b2Transform pose {b2Transform(b2Vec2(0,0), b2Rot(0))}
 
float halfLength =MIN_BODY_DIMENSION
 
float halfWidth =MIN_BODY_DIMENSION
 
float shift =0.0f
 
b2BodyType bodyType = b2_dynamicBody
 
b2Shape::Type shape = b2Shape::e_polygon
 
bool attention =false
 

Detailed Description

Contains features of disturbances

Member Function Documentation

◆ match()

bool BodyFeatures::match ( const BodyFeatures bf,
Bundle bundle = NULL,
b2Transform  t = b2Transform_zero 
)

Returns true if it matches the input body features

Parameters
bfinput body features
vpointer to float, scalar representing difference between features
testimated 2d transform (matching against an expected disturbance)

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