#include <ColdetModel.h>

Inheritance diagram for hrp::ColdetModel:

Public Types
enum	PrimitiveType { SP_MESH, SP_BOX, SP_CYLINDER, SP_CONE, SP_SPHERE, SP_PLANE }
Public Member Functions
void	addTriangle (int v1, int v2, int v3)
void	addVertex (float x, float y, float z)
void	build ()
	build tree of bounding boxes to accelerate collision check
bool	checkCollisionWithPointCloud (const std::vector< Vector3 > &i_cloud, double i_radius)
	check collision between this triangle mesh and a point cloud
	ColdetModel ()
	constructor
	ColdetModel (const ColdetModel &org)
	copy constructor
double	computeDistanceWithRay (const double point, const double dir)
	compute distance between a point and this mesh along ray
int	getAABBmaxNum ()
int	getAABBTreeDepth ()
void	getBoundingBoxData (const int depth, std::vector< Vector3 > &out_boxes)
ColdetModelSharedDataSet *	getDataSet ()
int	getNumTriangles () const
int	getNumVertices () const
	get the number of vertices
bool	getPrimitiveParam (unsigned int index, float &value) const
	get a parameter of primitive
PrimitiveType	getPrimitiveType () const
	get primitive type
void	getTriangle (int index, int &out_v1, int &out_v2, int &out_v3) const
void	getVertex (int index, float &out_x, float &out_y, float &out_z) const
	get a vertex
bool	isValid () const
	check if build() is already called or not
const std::string &	name () const
	get name of this model
int	numofBBtoDepth (int minNumofBB)
void	setName (const std::string &name)
	set name of this model
void	setNumPrimitiveParams (unsigned int nparam)
	set the number of parameters of primitive
void	setNumTriangles (int n)
	set the number of triangles
void	setNumVertices (int n)
	set the number of vertices
void	setPosition (const Matrix33 &R, const Vector3 &p)
	set position and orientation of this model
void	setPosition (const double R, const double p)
	set position and orientation of this model
bool	setPrimitiveParam (unsigned int index, float value)
	set a parameter of primitive
void	setPrimitivePosition (const double R, const double p)
	set position and orientation of primitive
void	setPrimitiveType (PrimitiveType ptype)
	set primitive type
void	setTriangle (int index, int v1, int v2, int v3)
	add a triangle
void	setVertex (int index, float x, float y, float z)
	add a vertex
virtual	~ColdetModel ()
	destructor
Private Member Functions
void	initialize ()
	common part of constuctors
void	initNeighbor (int n)
void	setNeighbor (int triangle0, int triangle1)
void	setNeighborTriangle (int triangle, int vertex0, int vertex1, int vertex2)
bool	setNeighborTriangleSub (int triangle, int vertex0, int vertex1)
Private Attributes
ColdetModelSharedDataSet *	dataSet
bool	isValid_
std::string	name_
IceMaths::Matrix4x4 *	pTransform
	transform of primitive
IceMaths::Matrix4x4 *	transform
EdgeToTriangleMap	triangleMap
Friends
class	ColdetModelPair

Detailed Description

Definition at line 61 of file ColdetModel.h.

Member Enumeration Documentation

enum hrp::ColdetModel::PrimitiveType

Enumerator:

SP_MESH
SP_BOX
SP_CYLINDER
SP_CONE
SP_SPHERE
SP_PLANE

Definition at line 64 of file ColdetModel.h.

Constructor & Destructor Documentation

ColdetModel::ColdetModel ( )

constructor

Definition at line 24 of file ColdetModel.cpp.

ColdetModel::ColdetModel ( const ColdetModel & org )

copy constructor

Shape information stored in dataSet is shared with org

Definition at line 34 of file ColdetModel.cpp.

ColdetModel::~ColdetModel ( ) [virtual]

destructor

Definition at line 63 of file ColdetModel.cpp.

Member Function Documentation

void ColdetModel::addTriangle	(	int	v1,
		int	v2,
		int	v3
	)

add a triangle to the end of the vector

Definition at line 137 of file ColdetModel.cpp.

void ColdetModel::addVertex	(	float	x,
		float	y,
		float	z
	)

add a vertex to the end of the vector

Definition at line 104 of file ColdetModel.cpp.

void ColdetModel::build ( )

build tree of bounding boxes to accelerate collision check

This method must be called before doing collision check

Definition at line 143 of file ColdetModel.cpp.

bool ColdetModel::checkCollisionWithPointCloud	(	const std::vector< Vector3 > &	i_cloud,
		double	i_radius
	)

check collision between this triangle mesh and a point cloud

Parameters:

i_cloud	points
i_radius	radius of spheres assigned to the points

Returns:: true if colliding, false otherwise

Definition at line 331 of file ColdetModel.cpp.

double ColdetModel::computeDistanceWithRay	(	const double *	point,
		const double *	dir
	)

compute distance between a point and this mesh along ray

Parameters:

point	a point
dir	direction of ray

Returns:: distance if ray collides with this mesh, FLT_MAX otherwise

Definition at line 314 of file ColdetModel.cpp.

int ColdetModel::getAABBmaxNum ( )

Definition at line 201 of file ColdetModel.cpp.

int ColdetModel::getAABBTreeDepth ( )

Definition at line 197 of file ColdetModel.cpp.

void ColdetModel::getBoundingBoxData	(	const int	depth,
		std::vector< Vector3 > &	out_boxes
	)

Definition at line 223 of file ColdetModel.cpp.

ColdetModelSharedDataSet* hrp::ColdetModel::getDataSet ( ) [inline]

Definition at line 245 of file ColdetModel.h.

int ColdetModel::getNumTriangles ( ) const

Definition at line 92 of file ColdetModel.cpp.

int ColdetModel::getNumVertices ( ) const

get the number of vertices

Returns:: the number of vertices

Definition at line 79 of file ColdetModel.cpp.

bool ColdetModel::getPrimitiveParam	(	unsigned int	index,
		float &	value
	)		const

get a parameter of primitive

Parameters:

index	index of the parameter
value	value of the parameter

Returns:: true if the parameter is gotten successfully, false otherwise

Definition at line 298 of file ColdetModel.cpp.

ColdetModel::PrimitiveType ColdetModel::getPrimitiveType ( ) const

get primitive type

Returns:: primitive type

Definition at line 280 of file ColdetModel.cpp.

void ColdetModel::getTriangle	(	int	index,
		int &	out_v1,
		int &	out_v2,
		int &	out_v3
	)		const

Definition at line 128 of file ColdetModel.cpp.

void ColdetModel::getVertex	(	int	index,
		float &	out_x,
		float &	out_y,
		float &	out_z
	)		const

get a vertex

Parameters:

index	index of the vertex
out_x	x position of the vertex
out_y	y position of the vertex
out_z	z position of the vertex

Definition at line 110 of file ColdetModel.cpp.

void ColdetModel::initialize ( ) [private]

common part of constuctors

Definition at line 43 of file ColdetModel.cpp.

void ColdetModel::initNeighbor ( int n ) [private]

Definition at line 383 of file ColdetModel.cpp.

bool hrp::ColdetModel::isValid ( ) const [inline]

check if build() is already called or not

Returns:: true if build() is already called, false otherwise

Definition at line 165 of file ColdetModel.h.

const std::string& hrp::ColdetModel::name ( ) const [inline]

get name of this model

Returns:: name name of this model

Definition at line 93 of file ColdetModel.h.

int ColdetModel::numofBBtoDepth ( int minNumofBB )

Definition at line 190 of file ColdetModel.cpp.

void hrp::ColdetModel::setName ( const std::string & name ) [inline]

set name of this model

Parameters:

name	name of this model

Definition at line 87 of file ColdetModel.h.

void ColdetModel::setNeighbor	(	int	triangle0,
		int	triangle1
	)		`[private]`

Definition at line 387 of file ColdetModel.cpp.

void ColdetModel::setNeighborTriangle	(	int	triangle,
		int	vertex0,
		int	vertex1,
		int	vertex2
	)		`[private]`

Definition at line 351 of file ColdetModel.cpp.

bool ColdetModel::setNeighborTriangleSub	(	int	triangle,
		int	vertex0,
		int	vertex1
	)		`[private]`

Definition at line 357 of file ColdetModel.cpp.

void ColdetModel::setNumPrimitiveParams ( unsigned int nparam )

set the number of parameters of primitive

Parameters:

nparam the number of parameters of primitive

Definition at line 285 of file ColdetModel.cpp.

void ColdetModel::setNumTriangles ( int n )

set the number of triangles

Parameters:

n	the number of triangles

Definition at line 85 of file ColdetModel.cpp.

void ColdetModel::setNumVertices ( int n )

set the number of vertices

Parameters:

n	the number of vertices

Definition at line 73 of file ColdetModel.cpp.

void ColdetModel::setPosition	(	const Matrix33 &	R,
		const Vector3 &	p
	)

set position and orientation of this model

Parameters:

R	new orientation
p	new position

Definition at line 258 of file ColdetModel.cpp.

void ColdetModel::setPosition	(	const double *	R,
		const double *	p
	)

set position and orientation of this model

Parameters:

R	new orientation (length = 9)
p	new position (length = 3)

Definition at line 267 of file ColdetModel.cpp.

bool ColdetModel::setPrimitiveParam	(	unsigned int	index,
		float	value
	)

set a parameter of primitive

Parameters:

index	index of the parameter
value	value of the parameter

Returns:: true if the parameter is set successfully, false otherwise

Definition at line 290 of file ColdetModel.cpp.

void ColdetModel::setPrimitivePosition	(	const double *	R,
		const double *	p
	)

set position and orientation of primitive

Parameters:

R	orientation relative to link (length = 9)
p	position relative to link (length = 3)

Definition at line 306 of file ColdetModel.cpp.

void ColdetModel::setPrimitiveType ( PrimitiveType ptype )

set primitive type

Parameters:

ptype primitive type

Definition at line 275 of file ColdetModel.cpp.

void ColdetModel::setTriangle	(	int	index,
		int	v1,
		int	v2,
		int	v3
	)

add a triangle

Parameters:

index	index of the triangle
v1	index of the first vertex
v2	index of the second vertex
v3	index of the third vertex

Definition at line 119 of file ColdetModel.cpp.

void ColdetModel::setVertex	(	int	index,
		float	x,
		float	y,
		float	z
	)

add a vertex

Parameters:

index	index of the vertex
x	x position of the vertex
y	y position of the vertex
z	z position of the vertex

Definition at line 98 of file ColdetModel.cpp.

Friends And Related Function Documentation

friend class ColdetModelPair [friend]

Definition at line 265 of file ColdetModel.h.

Member Data Documentation

ColdetModelSharedDataSet* hrp::ColdetModel::dataSet [private]

Definition at line 255 of file ColdetModel.h.

bool hrp::ColdetModel::isValid_ [private]

Definition at line 259 of file ColdetModel.h.

std::string hrp::ColdetModel::name_ [private]

Definition at line 258 of file ColdetModel.h.

IceMaths::Matrix4x4* hrp::ColdetModel::pTransform [private]

transform of primitive

Definition at line 257 of file ColdetModel.h.

IceMaths::Matrix4x4* hrp::ColdetModel::transform [private]

Definition at line 256 of file ColdetModel.h.

EdgeToTriangleMap hrp::ColdetModel::triangleMap [private]

Definition at line 260 of file ColdetModel.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation