distance3d.containment.capsule_aabb

distance3d.containment.capsule_aabb(capsule2origin, radius, height)[source]

Compute axis-aligned bounding box of a capsule.

Parameters:
capsule2originarray, shape (4, 4)

Pose of the capsule.

radiusfloat

Radius of the capsule.

heightfloat

Height of the capsule.

Returns:
minsarray, shape (3,)

Minimum coordinates.

maxsarray, shape (3,)

Maximum coordinates.