hrp::ColdetModel Class Reference

#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 More...
bool	checkCollisionWithPointCloud (const std::vector< Vector3 > &i_cloud, double i_radius)
	check collision between this triangle mesh and a point cloud More...
	ColdetModel ()
	constructor More...
	ColdetModel (const ColdetModel &org)
	copy constructor More...
double	computeDistanceWithRay (const double *point, const double *dir)
	compute distance between a point and this mesh along ray More...
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 More...
bool	getPrimitiveParam (unsigned int index, float &value) const
	get a parameter of primitive More...
PrimitiveType	getPrimitiveType () const
	get primitive type More...
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 More...
bool	isValid () const
	check if build() is already called or not More...
const std::string &	name () const
	get name of this model More...
int	numofBBtoDepth (int minNumofBB)
void	setName (const std::string &name)
	set name of this model More...
void	setNumPrimitiveParams (unsigned int nparam)
	set the number of parameters of primitive More...
void	setNumTriangles (int n)
	set the number of triangles More...
void	setNumVertices (int n)
	set the number of vertices More...
void	setPosition (const Matrix33 &R, const Vector3 &p)
	set position and orientation of this model More...
void	setPosition (const double *R, const double *p)
	set position and orientation of this model More...
bool	setPrimitiveParam (unsigned int index, float value)
	set a parameter of primitive More...
void	setPrimitivePosition (const double *R, const double *p)
	set position and orientation of primitive More...
void	setPrimitiveType (PrimitiveType ptype)
	set primitive type More...
void	setTriangle (int index, int v1, int v2, int v3)
	add a triangle More...
void	setVertex (int index, float x, float y, float z)
	add a vertex More...
virtual	~ColdetModel ()
	destructor More...
Public Member Functions inherited from hrp::Referenced
	Referenced ()
virtual	~Referenced ()

Private Member Functions
void	initialize ()
	common part of constuctors More...
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 More...
IceMaths::Matrix4x4 *	transform
EdgeToTriangleMap	triangleMap

Friends
class	ColdetModelPair

Additional Inherited Members
Protected Member Functions inherited from hrp::Referenced
int	refCounter ()

Detailed Description

Definition at line 61 of file ColdetModel.h.

Member Enumeration Documentation

PrimitiveType

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() [1/2]

ColdetModel::ColdetModel

(

)

constructor

Definition at line 24 of file ColdetModel.cpp.

ColdetModel() [2/2]

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::~ColdetModel ( )

virtual

destructor

Definition at line 63 of file ColdetModel.cpp.

Member Function Documentation

addTriangle()

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.

addVertex()

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.

build()

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.

checkCollisionWithPointCloud()

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.

computeDistanceWithRay()

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.

getAABBmaxNum()

int ColdetModel::getAABBmaxNum

(

)

Definition at line 201 of file ColdetModel.cpp.

getAABBTreeDepth()

int ColdetModel::getAABBTreeDepth

(

)

Definition at line 197 of file ColdetModel.cpp.

getBoundingBoxData()

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

Definition at line 223 of file ColdetModel.cpp.

getDataSet()

ColdetModelSharedDataSet* hrp::ColdetModel::getDataSet ( )

inline

Definition at line 245 of file ColdetModel.h.

getNumTriangles()

int ColdetModel::getNumTriangles

(

)

const

Definition at line 92 of file ColdetModel.cpp.

getNumVertices()

int ColdetModel::getNumVertices

(

)

const

get the number of vertices

Returns

the number of vertices

Definition at line 79 of file ColdetModel.cpp.

getPrimitiveParam()

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.

getPrimitiveType()

ColdetModel::PrimitiveType ColdetModel::getPrimitiveType

(

)

const

get primitive type

Returns

primitive type

Definition at line 280 of file ColdetModel.cpp.

getTriangle()

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

Definition at line 128 of file ColdetModel.cpp.

getVertex()

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.

initialize()

void ColdetModel::initialize ( )

private

common part of constuctors

Definition at line 43 of file ColdetModel.cpp.

initNeighbor()

void ColdetModel::initNeighbor ( int  n )

private

Definition at line 383 of file ColdetModel.cpp.

isValid()

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.

name()

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.

numofBBtoDepth()

int ColdetModel::numofBBtoDepth

(

int

minNumofBB

)

Definition at line 190 of file ColdetModel.cpp.

setName()

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.

setNeighbor()

void ColdetModel::setNeighbor ( int  triangle0, int  triangle1  )

private

Definition at line 387 of file ColdetModel.cpp.

setNeighborTriangle()

void ColdetModel::setNeighborTriangle ( int  triangle, int  vertex0, int  vertex1, int  vertex2  )

private

Definition at line 351 of file ColdetModel.cpp.

setNeighborTriangleSub()

bool ColdetModel::setNeighborTriangleSub ( int  triangle, int  vertex0, int  vertex1  )

private

Definition at line 357 of file ColdetModel.cpp.

setNumPrimitiveParams()

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.

setNumTriangles()

void ColdetModel::setNumTriangles

(

int

n

)

set the number of triangles

Parameters

n	the number of triangles

Definition at line 85 of file ColdetModel.cpp.

setNumVertices()

void ColdetModel::setNumVertices

(

int

n

)

set the number of vertices

Parameters

n	the number of vertices

Definition at line 73 of file ColdetModel.cpp.

setPosition() [1/2]

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.

setPosition() [2/2]

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.

setPrimitiveParam()

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.

setPrimitivePosition()

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.

setPrimitiveType()

void ColdetModel::setPrimitiveType

(

PrimitiveType

ptype

)

set primitive type

Parameters

ptype

primitive type

Definition at line 275 of file ColdetModel.cpp.

setTriangle()

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.

setVertex()

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

ColdetModelPair

friend class ColdetModelPair

friend

Definition at line 265 of file ColdetModel.h.

Member Data Documentation

dataSet

ColdetModelSharedDataSet* hrp::ColdetModel::dataSet

private

Definition at line 255 of file ColdetModel.h.

isValid_

bool hrp::ColdetModel::isValid_

private

Definition at line 259 of file ColdetModel.h.

name_

std::string hrp::ColdetModel::name_

private

Definition at line 258 of file ColdetModel.h.

pTransform

IceMaths::Matrix4x4* hrp::ColdetModel::pTransform

private

transform of primitive

Definition at line 257 of file ColdetModel.h.

transform

IceMaths::Matrix4x4* hrp::ColdetModel::transform

private

Definition at line 256 of file ColdetModel.h.

triangleMap

EdgeToTriangleMap hrp::ColdetModel::triangleMap

private

Definition at line 260 of file ColdetModel.h.

---

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

• ColdetModel.h
• ColdetModel.cpp