shapes.h File Reference

#include <cstdlib>
#include <vector>
#include <tf/LinearMath/Vector3.h>

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Classes
class	shapes::Box
	Definition of a box.
class	shapes::Cylinder
	Definition of a cylinder.
class	shapes::Mesh
	Definition of a mesh.
class	shapes::Plane
	Definition of a plane with equation ax + by + cz + d = 0.
class	shapes::Shape
	A basic definition of a shape. Shapes are considered centered at origin.
class	shapes::Sphere
	Definition of a sphere.
class	shapes::StaticShape
	A basic definition of a static shape. Static shapes do not have a pose.
Namespaces
namespace	shapes
Enumerations
enum	ShapeType { shapes::UNKNOWN_SHAPE, shapes::SPHERE, shapes::CYLINDER, shapes::BOX, shapes::MESH }
	A list of known shape types. More...
enum	StaticShapeType { shapes::UNKNOWN_STATIC_SHAPE, shapes::PLANE }
Functions
StaticShape *	shapes::cloneShape (const StaticShape *shape)
	Create a copy of a static shape.
Shape *	shapes::cloneShape (const Shape *shape)
	Create a copy of a shape.
Mesh *	shapes::createMeshFromBinaryStl (const char *filename)
	Load a mesh from a binary STL file. Normals are recomputed and repeating vertices are identified.
Mesh *	shapes::createMeshFromBinaryStlData (const char *data, unsigned int size)
	Load a mesh from a binary STL stream. Normals are recomputed and repeating vertices are identified.
Mesh *	shapes::createMeshFromVertices (const std::vector< tf::Vector3 > &source)
	Load a mesh from a set of vertices. Every 3 vertices are considered a triangle. Repeating vertices are identified and the set of triangle indices is constructed. The normal at each triangle is also computed.
Mesh *	shapes::createMeshFromVertices (const std::vector< tf::Vector3 > &vertices, const std::vector< unsigned int > &triangles)
	Load a mesh from a set of vertices. Triangles are constructed using index values from the triangles vector. Triangle k has vertices at index values triangles[3k], triangles[3k+1], triangles[3k+2].

shapes.h File Reference

Classes

Namespaces

Enumerations

Functions