#include <surface_tri_spline.h>

Inheritance diagram for Slam_Surface::SurfaceTriSpline:

Public Member Functions
virtual float	_merge (SurfaceNurbs o, const float this_w, const float o_w, const SWINDOW &wind_t, const SWINDOW &wind_o)
virtual float	area () const
	calc approx. area
virtual bool	fitsCurvature (const Surface &o, const float thr) const
	check form against
virtual const char *	getName () const
virtual int	getSurfaceType () const
	get implementation details
virtual void	init (const boost::array< float, 6 > &params, const float min_x, const float max_x, const float min_y, const float max_y, const float weight)
	init with 6 parameters
virtual void	init (const PolynomialSurface *params, const float min_x, const float max_x, const float min_y, const float max_y, const float weight)
virtual void	init (const PolynomialSurface *params, const std::vector< Eigen::Vector3f > &pts, const float weight)
void	marker (cob_3d_marker::MarkerContainer &mc) const
virtual float	merge (const Surface &o, const float this_w, const float o_w, const SWINDOW &wind_t, const SWINDOW &wind_o)
	merge parameters
virtual Eigen::Vector2f	nextPoint (const Eigen::Vector3f &v) const
	find nearest point to manifold
virtual Eigen::Vector3f	normalAt (const Eigen::Vector2f &v) const
	get normal at 2D point
void	print () const
virtual Eigen::Vector3f	project2world (const Eigen::Vector2f &pt) const
	project a 2D point to 3D
	SurfaceTriSpline ()
virtual void	transform (const Eigen::Matrix3f &rot, const Eigen::Vector3f &tr)
	transform basis
Private Attributes
ParametricSurface::Topology	top_

Detailed Description

topology consisting of triangles each triangle is defined through 3 points and 3 normals at each point --> 3 planes with the normal of the point and through the point --> Intersection of the planes --> 4th control point triangle builds plane for tensor product outer points are 0 on tensor product, 4th control point has value z on x,y B-Spline on tri.-plane

Definition at line 26 of file surface_tri_spline.h.

Constructor & Destructor Documentation

Slam_Surface::SurfaceTriSpline::SurfaceTriSpline ( ) [inline]

Definition at line 82 of file surface_tri_spline.h.

Member Function Documentation

virtual float Slam_Surface::SurfaceTriSpline::_merge	(	SurfaceNurbs	o,
		const float	this_w,
		const float	o_w,
		const SWINDOW &	wind_t,
		const SWINDOW &	wind_o
	)		`[inline, virtual]`

Definition at line 104 of file surface_tri_spline.h.

virtual float Slam_Surface::SurfaceTriSpline::area ( ) const [inline, virtual]

calc approx. area

Implements Slam_Surface::Surface.

Definition at line 113 of file surface_tri_spline.h.

virtual bool Slam_Surface::SurfaceTriSpline::fitsCurvature	(	const Surface &	o,
		const float	thr
	)		const `[inline, virtual]`

check form against

Implements Slam_Surface::Surface.

Definition at line 110 of file surface_tri_spline.h.

virtual const char* Slam_Surface::SurfaceTriSpline::getName ( void ) const [inline, virtual]

Implements Slam_Surface::Surface.

Definition at line 91 of file surface_tri_spline.h.

virtual int Slam_Surface::SurfaceTriSpline::getSurfaceType ( ) const [inline, virtual]

get implementation details

Implements Slam_Surface::Surface.

Definition at line 90 of file surface_tri_spline.h.

void Slam_Surface::SurfaceTriSpline::init	(	const boost::array< float, 6 > &	params,
		const float	min_x,
		const float	max_x,
		const float	min_y,
		const float	max_y,
		const float	weight
	)		`[virtual]`

init with 6 parameters

Implements Slam_Surface::Surface.

Definition at line 514 of file surface_tri_spline.hpp.

void Slam_Surface::SurfaceTriSpline::init	(	const PolynomialSurface *	params,
		const float	min_x,
		const float	max_x,
		const float	min_y,
		const float	max_y,
		const float	weight
	)		`[virtual]`

Definition at line 536 of file surface_tri_spline.hpp.

void Slam_Surface::SurfaceTriSpline::init	(	const PolynomialSurface *	params,
		const std::vector< Eigen::Vector3f > &	pts,
		const float	weight
	)		`[virtual]`

Definition at line 519 of file surface_tri_spline.hpp.

void Slam_Surface::SurfaceTriSpline::marker ( cob_3d_marker::MarkerContainer & mc ) const [inline, virtual]

Implements cob_3d_marker::MarkerCreator.

Definition at line 117 of file surface_tri_spline.h.

float Slam_Surface::SurfaceTriSpline::merge	(	const Surface &	o,
		const float	this_w,
		const float	o_w,
		const SWINDOW &	wind_t,
		const SWINDOW &	wind_o
	)		`[virtual]`