Struct BoundingBox 

pub struct BoundingBox { /* private fields */ }

An oriented bounding box in 3D space. Wrapper around C++ implementation maliput::math::BoundingBox.

The box is defined by a position (centroid), box_size (full extents along each axis), and an orientation expressed as roll-pitch-yaw angles.

Implementations

impl BoundingBox

pub fn new( position: &Vector3, box_size: &Vector3, orientation: &RollPitchYaw, tolerance: f64, ) -> BoundingBox

Create a new BoundingBox.

Arguments

• position — Center of the box in the Inertial frame.
• box_size — Full extents of the box along each axis (length, width, height).
• orientation — Orientation of the box in the Inertial frame.
• tolerance — Tolerance used for containment/intersection queries.

pub fn position(&self) -> Vector3

Returns the position (centroid) of the bounding box in the Inertial frame.

pub fn box_size(&self) -> Vector3

Returns the full extents of the bounding box along each axis.

pub fn orientation(&self) -> RollPitchYaw

Returns the orientation of the bounding box as roll-pitch-yaw angles.

pub fn get_vertices(&self) -> Vec<Vector3>

Returns the 8 vertices of the bounding box in the Inertial frame.

pub fn is_box_contained(&self, other: &BoundingBox) -> bool

Returns true when this bounding box fully contains other.

pub fn is_box_intersected(&self, other: &BoundingBox) -> bool

Returns true when this bounding box intersects other.