#include <sdf_mesh.h>

Inheritance diagram for tesseract_geometry::SDFMesh:

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

using	Ptr = std::shared_ptr< SDFMesh >

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 final
	Create a copy of this shape. More...

bool	operator!= (const SDFMesh &rhs) const

bool	operator== (const SDFMesh &rhs) const

	SDFMesh ()=default

	SDFMesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > triangles, int triangle_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)
	SDF Mesh geometry. More...

	SDFMesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > triangles, 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)
	SDF Mesh geometry. More...

	~SDFMesh () override=default

Public Member Functions inherited from tesseract_geometry::PolygonMesh
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)

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

Definition at line 45 of file sdf_mesh.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 53 of file sdf_mesh.h.

◆ Ptr

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

Definition at line 52 of file sdf_mesh.h.

Constructor & Destructor Documentation

◆ SDFMesh() [1/3]

tesseract_geometry::SDFMesh::SDFMesh	(	std::shared_ptr< const tesseract_common::VectorVector3d >	vertices,
		std::shared_ptr< const Eigen::VectorXi >	triangles,
		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`
	)

SDF Mesh geometry.

Parameters

vertices	A vector of vertices associated with the mesh
triangles	A vector of face indices where the first index indicates the number of vertices associated with the face followed by the vertices 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)

Definition at line 38 of file sdf_mesh.cpp.

◆ SDFMesh() [2/3]

tesseract_geometry::SDFMesh::SDFMesh	(	std::shared_ptr< const tesseract_common::VectorVector3d >	vertices,
		std::shared_ptr< const Eigen::VectorXi >	triangles,
		int	triangle_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`
	)

SDF Mesh geometry.

Parameters

vertices	A vector of vertices associated with the mesh
triangles	A vector of face indices where the first index indicates the number of vertices associated with the face followed by the vertices 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.
triangle_count	Provide the number of faces. This is faster because it does not need to loop over triangles.
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)

Definition at line 60 of file sdf_mesh.cpp.

◆ SDFMesh() [3/3]

tesseract_geometry::SDFMesh::SDFMesh ( )

default

◆ ~SDFMesh()

tesseract_geometry::SDFMesh::~SDFMesh ( )

overridedefault

Member Function Documentation

◆ clone()

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

finaloverridevirtual

Create a copy of this shape.

Reimplemented from tesseract_geometry::PolygonMesh.

Definition at line 84 of file sdf_mesh.cpp.

◆ operator!=()

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

Definition at line 95 of file sdf_mesh.cpp.

◆ operator==()

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

Definition at line 89 of file sdf_mesh.cpp.

◆ serialize()

template<class Archive >

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

private

Definition at line 98 of file sdf_mesh.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 112 of file sdf_mesh.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization