Contains the id's of points forming a patch on the target object's surface in ICR::Patch::patch_ids_. More...
#include <finger.h>
Public Member Functions | |
| Patch () | |
| Patch (uint centerpoint_id) | |
| Patch (uint centerpoint_id, TargetObject const &obj, InclusionRule const &rule) | |
Public Attributes | |
| IndexList | patch_ids_ |
Friends | |
| std::ostream & | operator<< (std::ostream &stream, Patch const &patch) |
Contains the id's of points forming a patch on the target object's surface in ICR::Patch::patch_ids_.
Definition at line 88 of file finger.cpp.
| ICR::Patch::Patch | ( | uint | centerpoint_id | ) |
centerpoint_id states the id of the ICR::ContactPoint at which the patch is centered
| a | centerpoint_id in the range of 0 - ICR::TargetObject::num_cp_ |
Definition at line 90 of file finger.cpp.
| ICR::Patch::Patch | ( | uint | centerpoint_id, |
| TargetObject const & | obj, | ||
| InclusionRule const & | rule | ||
| ) |
centerpoint_id states the id of the ICR::ContactPoint at which the patch is centered
| a | centerpoint_id in the range of 0 - ICR::TargetObject::num_cp_ |
| a | valid target object |
| a | valid inclusion rule |
Performs a breadth-first exploration of obj's contact points with the contact point given by centerpoint_id as root node. The criterion to qualify a point for inclusion in the patch is that rule.inclusionTest() is satisfied.
Definition at line 92 of file finger.cpp.
| std::ostream& operator<< | ( | std::ostream & | stream, |
| Patch const & | patch | ||
| ) | [friend] |
Definition at line 143 of file finger.cpp.