Fix of detection of the out of bed state for sinking objects

This commit is contained in:
enricoturri1966 2021-09-16 13:38:02 +02:00
parent e8418b509e
commit 5a84b46ec9
5 changed files with 71 additions and 0 deletions

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@ -57,6 +57,10 @@ public:
BoundingBoxf3 bounding_box() const;
// Returns the bbox of this TriangleMesh transformed by the given transformation
BoundingBoxf3 transformed_bounding_box(const Transform3d &trafo) const;
#if ENABLE_FIX_SINKING_OBJECT_OUT_OF_BED_DETECTION
// Variant returning the bbox of the part of this TriangleMesh above the given world_min_z
BoundingBoxf3 transformed_bounding_box(const Transform3d& trafo, double world_min_z) const;
#endif // ENABLE_FIX_SINKING_OBJECT_OUT_OF_BED_DETECTION
// Return the size of the mesh in coordinates.
Vec3d size() const { return stl.stats.size.cast<double>(); }
/// Return the center of the related bounding box.