#include <convex_mesh.h>

Inheritance diagram for tesseract_geometry::ConvexMesh:

Public Types
using	ConstPtr = std::shared_ptr< const ConvexMesh >

enum	CreationMethod : std::uint8_t { DEFAULT, MESH, CONVERTED }

using	Ptr = std::shared_ptr< ConvexMesh >

Public Types inherited from tesseract_geometry::PolygonMesh
using	ConstPtr = std::shared_ptr< const PolygonMesh >

using	Ptr = std::shared_ptr< PolygonMesh >

Public Types inherited from tesseract_geometry::Geometry
using	ConstPtr = std::shared_ptr< const Geometry >

using	Ptr = std::shared_ptr< Geometry >

Public Member Functions
Geometry::Ptr	clone () const override
	Create a copy of this shape. More...

	ConvexMesh ()=default

	ConvexMesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > faces, int face_count, std::shared_ptr< const tesseract_common::Resource > resource=nullptr, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), std::shared_ptr< const tesseract_common::VectorVector3d > normals=nullptr, std::shared_ptr< const tesseract_common::VectorVector4d > vertex_colors=nullptr, std::shared_ptr< MeshMaterial > mesh_material=nullptr, std::shared_ptr< const std::vector< std::shared_ptr< MeshTexture >>> mesh_textures=nullptr)
	Convex Mesh geometry. More...

	ConvexMesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > faces, std::shared_ptr< const tesseract_common::Resource > resource=nullptr, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), std::shared_ptr< const tesseract_common::VectorVector3d > normals=nullptr, std::shared_ptr< const tesseract_common::VectorVector4d > vertex_colors=nullptr, std::shared_ptr< MeshMaterial > mesh_material=nullptr, std::shared_ptr< const std::vector< std::shared_ptr< MeshTexture >>> mesh_textures=nullptr)
	Convex Mesh geometry. More...

CreationMethod	getCreationMethod () const
	Get how the convex hull was created. More...

bool	operator!= (const ConvexMesh &rhs) const

bool	operator== (const ConvexMesh &rhs) const

void	setCreationMethod (CreationMethod method)
	Set the method used to create the convex mesh. More...

	~ConvexMesh () override=default

Public Member Functions inherited from tesseract_geometry::PolygonMesh
Geometry::Ptr	clone () const override
	Create a copy of this shape. More...

int	getFaceCount () const
	Get face count. More...

const std::shared_ptr< const Eigen::VectorXi > &	getFaces () const
	Get Polygon mesh faces. More...

std::shared_ptr< const MeshMaterial >	getMaterial () const
	Get material data extracted from the mesh file. More...

const std::shared_ptr< const tesseract_common::VectorVector3d > &	getNormals () const
	Get the vertex normal vectors. More...

std::shared_ptr< const tesseract_common::Resource >	getResource () const
	Get the path to file used to generate the mesh. More...

const Eigen::Vector3d &	getScale () const
	Get the scale applied to file used to generate the mesh. More...

const std::shared_ptr< const std::vector< std::shared_ptr< MeshTexture > > > &	getTextures () const
	Get textures extracted from the mesh file. More...

const std::shared_ptr< const tesseract_common::VectorVector4d > &	getVertexColors () const
	Get the vertex colors. More...

int	getVertexCount () const
	Get vertex count. More...

const std::shared_ptr< const tesseract_common::VectorVector3d > &	getVertices () const
	Get Polygon mesh vertices. More...

bool	operator!= (const PolygonMesh &rhs) const

bool	operator== (const PolygonMesh &rhs) const

	PolygonMesh ()=default

	PolygonMesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > faces, int face_count, std::shared_ptr< const tesseract_common::Resource > resource=nullptr, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), std::shared_ptr< const tesseract_common::VectorVector3d > normals=nullptr, std::shared_ptr< const tesseract_common::VectorVector4d > vertex_colors=nullptr, std::shared_ptr< MeshMaterial > mesh_material=nullptr, std::shared_ptr< const std::vector< std::shared_ptr< MeshTexture >>> mesh_textures=nullptr, GeometryType type=GeometryType::POLYGON_MESH)
	Polygon Mesh geometry. More...

	PolygonMesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > faces, std::shared_ptr< const tesseract_common::Resource > resource=nullptr, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), std::shared_ptr< const tesseract_common::VectorVector3d > normals=nullptr, std::shared_ptr< const tesseract_common::VectorVector4d > vertex_colors=nullptr, std::shared_ptr< MeshMaterial > mesh_material=nullptr, std::shared_ptr< const std::vector< std::shared_ptr< MeshTexture >>> mesh_textures=nullptr, GeometryType type=GeometryType::POLYGON_MESH)
	Polygon Mesh geometry. More...

	~PolygonMesh () override=default

Public Member Functions inherited from tesseract_geometry::Geometry
	Geometry (const Geometry &)=default

	Geometry (Geometry &&)=default

	Geometry (GeometryType type=GeometryType::UNINITIALIZED)

GeometryType	getType () const
	Get the geometry type. More...

const boost::uuids::uuid &	getUUID () const
	Get the geometry UUID. More...

bool	operator!= (const Geometry &rhs) const

Geometry &	operator= (const Geometry &)=default

Geometry &	operator= (Geometry &&)=default

bool	operator== (const Geometry &rhs) const

void	setUUID (const boost::uuids::uuid &uuid)
	Set the geometry UUID. More...

virtual	~Geometry ()=default

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Private Attributes
CreationMethod	creation_method_ { DEFAULT }

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

Definition at line 45 of file convex_mesh.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_geometry::ConvexMesh::ConstPtr = std::shared_ptr<const ConvexMesh>

Definition at line 53 of file convex_mesh.h.

◆ Ptr

using tesseract_geometry::ConvexMesh::Ptr = std::shared_ptr<ConvexMesh>

Definition at line 52 of file convex_mesh.h.

Member Enumeration Documentation

◆ CreationMethod

enum tesseract_geometry::ConvexMesh::CreationMethod : std::uint8_t

Enumerator
DEFAULT
MESH
CONVERTED

Definition at line 55 of file convex_mesh.h.

Constructor & Destructor Documentation

◆ ConvexMesh() [1/3]

tesseract_geometry::ConvexMesh::ConvexMesh	(	std::shared_ptr< const tesseract_common::VectorVector3d >	vertices,
		std::shared_ptr< const Eigen::VectorXi >	faces,
		std::shared_ptr< const tesseract_common::Resource >	resource = `nullptr`,
		const Eigen::Vector3d &	scale = `Eigen::Vector3d(1, 1, 1)`,
		std::shared_ptr< const tesseract_common::VectorVector3d >	normals = `nullptr`,
		std::shared_ptr< const tesseract_common::VectorVector4d >	vertex_colors = `nullptr`,
		std::shared_ptr< MeshMaterial >	mesh_material = `nullptr`,
		std::shared_ptr< const std::vector< std::shared_ptr< MeshTexture >>>	mesh_textures = `nullptr`
	)

Convex Mesh geometry.

Parameters

vertices	A vector of vertices associated with the mesh
faces	A vector of face indices, where the first number indicates the number of vertices associated with the face, followed by the vertex index in parameter vertices. For example, a triangle has three vertices, so there should be four inputs, where the first should be 3, indicating there are three vertices that define this face, followed by three indices.
resource	A resource locator for locating resource
scale	Scale the mesh
normals	A vector of normals for the vertices (optional)
vertex_colors	A vector of colors (RGBA) for the vertices (optional)
mesh_material	A MeshMaterial describing the color and material properties of the mesh (optional)
mesh_textures	A vector of MeshTexture to apply to the mesh (optional)

◆ ConvexMesh() [2/3]

tesseract_geometry::ConvexMesh::ConvexMesh	(	std::shared_ptr< const tesseract_common::VectorVector3d >	vertices,
		std::shared_ptr< const Eigen::VectorXi >	faces,
		int	face_count,
		std::shared_ptr< const tesseract_common::Resource >	resource = `nullptr`,
		const Eigen::Vector3d &	scale = `Eigen::Vector3d(1, 1, 1)`,
		std::shared_ptr< const tesseract_common::VectorVector3d >	normals = `nullptr`,
		std::shared_ptr< const tesseract_common::VectorVector4d >	vertex_colors = `nullptr`,
		std::shared_ptr< MeshMaterial >	mesh_material = `nullptr`,
		std::shared_ptr< const std::vector< std::shared_ptr< MeshTexture >>>	mesh_textures = `nullptr`
	)

Convex Mesh geometry.

Parameters

vertices	A vector of vertices associated with the mesh
faces	A vector of face indices, where the first number indicates the number of vertices associated with the face, followed by the vertex index in parameter vertices. For example, a triangle has three vertices, so there should be four inputs, where the first should be 3, indicating there are three vertices that define this face, followed by three indices.
face_count	Provide the number of faces. This is faster because it does not need to loop over the faces.
resource	A resource locator for locating resource
scale	Scale the mesh
normals	A vector of normals for the vertices (optional)
vertex_colors	A vector of colors (RGBA) for the vertices (optional)
mesh_material	Describes the color and material properties of the mesh (optional)
mesh_textures	A vector of MeshTexture to apply to the mesh (optional)

◆ ConvexMesh() [3/3]

tesseract_geometry::ConvexMesh::ConvexMesh ( )

default

◆ ~ConvexMesh()

tesseract_geometry::ConvexMesh::~ConvexMesh ( )

overridedefault

Member Function Documentation

◆ clone()

Geometry::Ptr tesseract_geometry::ConvexMesh::clone ( ) const

overridevirtual

Create a copy of this shape.

Implements tesseract_geometry::Geometry.

Definition at line 84 of file convex_mesh.cpp.

◆ getCreationMethod()

ConvexMesh::CreationMethod tesseract_geometry::ConvexMesh::getCreationMethod ( ) const

Get how the convex hull was created.

Note: This used when writing back out to urdf

Returns: The CreationMethod

Definition at line 80 of file convex_mesh.cpp.

◆ operator!=()

bool tesseract_geometry::ConvexMesh::operator!= ( const ConvexMesh & rhs ) const

Definition at line 96 of file convex_mesh.cpp.

◆ operator==()

bool tesseract_geometry::ConvexMesh::operator== ( const ConvexMesh & rhs ) const

Definition at line 89 of file convex_mesh.cpp.

◆ serialize()

template<class Archive >

void tesseract_geometry::ConvexMesh::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Definition at line 99 of file convex_mesh.cpp.

◆ setCreationMethod()

void tesseract_geometry::ConvexMesh::setCreationMethod ( CreationMethod method )

Set the method used to create the convex mesh.

Note: This used when writing back out to urdf

Parameters

value The CreationMethod

Definition at line 82 of file convex_mesh.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 138 of file convex_mesh.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 139 of file convex_mesh.h.

Member Data Documentation

◆ creation_method_

CreationMethod tesseract_geometry::ConvexMesh::creation_method_ { DEFAULT }

private

Definition at line 136 of file convex_mesh.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 Typedef Documentation

◆ ConstPtr

◆ Ptr

Member Enumeration Documentation

◆ CreationMethod

Constructor & Destructor Documentation

◆ ConvexMesh() [1/3]

◆ ConvexMesh() [2/3]

◆ ConvexMesh() [3/3]

◆ ~ConvexMesh()

Member Function Documentation

◆ clone()

◆ getCreationMethod()

◆ operator!=()

◆ operator==()

◆ serialize()

◆ setCreationMethod()

Friends And Related Function Documentation

◆ boost::serialization::access

◆ tesseract_common::Serialization

Member Data Documentation

◆ creation_method_