mvsim::Shape2p5 Class Reference

#include <Shape2p5.h>

Classes
struct	RemovalCandidate
class	SimpleOccGrid

Public Member Functions
void	buildAddPoint (const mrpt::math::TPoint3Df &pt)
void	buildAddTriangle (const mrpt::opengl::TTriangle &t)
void	buildInit (const mrpt::math::TPoint2Df &bbMin, const mrpt::math::TPoint2Df &bbMax, int numCells=100)
void	clipZMax (float v)
void	clipZMin (float v)
const mrpt::math::TPolygon2D &	getContour () const
void	mergeWith (const Shape2p5 &s)
void	setShapeManual (const mrpt::math::TPolygon2D &contour, const float zMin, const float zMax)
	Shape2p5 ()=default
double	volume () const
float	zMax () const
float	zMin () const

Private Member Functions
void	computeShape () const
	Computes contour_ from the contents in grid_. More...
void	debugSaveGridTo3DSceneFile (const mrpt::math::TPolygon2D &rawGridContour, const std::string &debugStr={}) const
mrpt::math::TPolygon2D	internalGridContour () const
void	internalGridFilterSpurious () const
void	internalGridFloodFill () const
mrpt::math::TPolygon2D	internalPrunePolygon (const mrpt::math::TPolygon2D &poly) const
std::optional< RemovalCandidate >	lossOfRemovingVertex (size_t i, const mrpt::math::TPolygon2D &p, bool allowApproxEdges) const

Private Attributes
std::optional< mrpt::math::TPolygon2D >	contour_
std::optional< SimpleOccGrid >	grid_
float	zMax_ = 0
float	zMin_ = 0

Detailed Description

A "2.5" shape: a 2D polygon + a [zMin,zMax] height range

The actual 2.5 shape is evaluated the first time getContour() is called, given all former calls to buildAddPoint() or buildAddTriangle() and a ray-tracing algorithm.

Definition at line 30 of file Shape2p5.h.

Constructor & Destructor Documentation

Shape2p5()

mvsim::Shape2p5::Shape2p5 ( )

default

Member Function Documentation

buildAddPoint()

void Shape2p5::buildAddPoint

(

const mrpt::math::TPoint3Df &

pt

)

Definition at line 127 of file Shape2p5.cpp.

buildAddTriangle()

void Shape2p5::buildAddTriangle

(

const mrpt::opengl::TTriangle &

t

)

Definition at line 136 of file Shape2p5.cpp.

buildInit()

void Shape2p5::buildInit	(	const mrpt::math::TPoint2Df &	bbMin,
		const mrpt::math::TPoint2Df &	bbMax,
		int	numCells = 100
	)

Definition at line 106 of file Shape2p5.cpp.

clipZMax()

void Shape2p5::clipZMax

(

float

v

)

Definition at line 643 of file Shape2p5.cpp.

clipZMin()

void Shape2p5::clipZMin

(

float

v

)

Definition at line 638 of file Shape2p5.cpp.

computeShape()

void Shape2p5::computeShape ( ) const

private

Computes contour_ from the contents in grid_.

Definition at line 170 of file Shape2p5.cpp.

debugSaveGridTo3DSceneFile()

void Shape2p5::debugSaveGridTo3DSceneFile ( const mrpt::math::TPolygon2D &  rawGridContour, const std::string &  debugStr = {}  ) const

private

Definition at line 504 of file Shape2p5.cpp.

getContour()

const mrpt::math::TPolygon2D & Shape2p5::getContour

(

)

const

Definition at line 95 of file Shape2p5.cpp.

internalGridContour()

mrpt::math::TPolygon2D Shape2p5::internalGridContour ( ) const

private

Definition at line 366 of file Shape2p5.cpp.

internalGridFilterSpurious()

void Shape2p5::internalGridFilterSpurious ( ) const

private

Definition at line 228 of file Shape2p5.cpp.

internalGridFloodFill()

void Shape2p5::internalGridFloodFill ( ) const

private

Definition at line 258 of file Shape2p5.cpp.

internalPrunePolygon()

mrpt::math::TPolygon2D Shape2p5::internalPrunePolygon ( const mrpt::math::TPolygon2D &  poly ) const

private

Definition at line 599 of file Shape2p5.cpp.

lossOfRemovingVertex()

std::optional< Shape2p5::RemovalCandidate > Shape2p5::lossOfRemovingVertex ( size_t  i, const mrpt::math::TPolygon2D &  p, bool  allowApproxEdges  ) const

private

Definition at line 556 of file Shape2p5.cpp.

mergeWith()

void Shape2p5::mergeWith

(

const Shape2p5 &

s

)

Definition at line 48 of file Shape2p5.cpp.

setShapeManual()

void Shape2p5::setShapeManual	(	const mrpt::math::TPolygon2D &	contour,
		const float	zMin,
		const float	zMax
	)

Definition at line 219 of file Shape2p5.cpp.

volume()

double Shape2p5::volume

(

)

const

Definition at line 42 of file Shape2p5.cpp.

zMax()

float mvsim::Shape2p5::zMax ( ) const

inline

Definition at line 52 of file Shape2p5.h.

zMin()

float mvsim::Shape2p5::zMin ( ) const

inline

Definition at line 51 of file Shape2p5.h.

Member Data Documentation

contour_

std::optional<mrpt::math::TPolygon2D> mvsim::Shape2p5::contour_

mutableprivate

Definition at line 58 of file Shape2p5.h.

grid_

std::optional<SimpleOccGrid> mvsim::Shape2p5::grid_

mutableprivate

Definition at line 75 of file Shape2p5.h.

zMax_

float mvsim::Shape2p5::zMax_ = 0

mutableprivate

Definition at line 59 of file Shape2p5.h.

zMin_

float mvsim::Shape2p5::zMin_ = 0

mutableprivate

Definition at line 59 of file Shape2p5.h.

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

• Shape2p5.h
• Shape2p5.cpp