#include <polygon_mesh.h>

Inheritance diagram for tesseract_geometry::PolygonMesh:

[legend]

Public Types
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...

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
int	face_count_ { 0 }

std::shared_ptr< const Eigen::VectorXi >	faces_

std::shared_ptr< MeshMaterial >	mesh_material_

std::shared_ptr< const std::vector< std::shared_ptr< MeshTexture > > >	mesh_textures_

std::shared_ptr< const tesseract_common::VectorVector3d >	normals_

std::shared_ptr< const tesseract_common::Resource >	resource_

Eigen::Vector3d	scale_

std::shared_ptr< const tesseract_common::VectorVector4d >	vertex_colors_

int	vertex_count_ { 0 }

std::shared_ptr< const tesseract_common::VectorVector3d >	vertices_

Friends
class	boost::serialization::access

struct	tesseract_common::Serialization

Detailed Description

Definition at line 51 of file polygon_mesh.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 59 of file polygon_mesh.h.

◆ Ptr

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

Definition at line 58 of file polygon_mesh.h.

Constructor & Destructor Documentation

◆ PolygonMesh() [1/3]

tesseract_geometry::PolygonMesh::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.

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)

Definition at line 44 of file polygon_mesh.cpp.

◆ PolygonMesh() [2/3]

tesseract_geometry::PolygonMesh::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.

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)

◆ PolygonMesh() [3/3]

tesseract_geometry::PolygonMesh::PolygonMesh ( )

default

◆ ~PolygonMesh()

tesseract_geometry::PolygonMesh::~PolygonMesh ( )

overridedefault

Member Function Documentation

◆ clone()

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

overridevirtual

Create a copy of this shape.

Implements tesseract_geometry::Geometry.

Reimplemented in tesseract_geometry::SDFMesh.

Definition at line 119 of file polygon_mesh.cpp.

◆ getFaceCount()

int tesseract_geometry::PolygonMesh::getFaceCount ( ) const

Get face count.

Returns: Number of faces

Definition at line 102 of file polygon_mesh.cpp.

◆ getFaces()

const std::shared_ptr< const Eigen::VectorXi > & tesseract_geometry::PolygonMesh::getFaces ( ) const

Get Polygon mesh faces.

Returns: A vector of face indices

Definition at line 98 of file polygon_mesh.cpp.

◆ getMaterial()

MeshMaterial::ConstPtr tesseract_geometry::PolygonMesh::getMaterial ( ) const

Get material data extracted from the mesh file.

Mesh files contain material information. The mesh parser will extract the material information and store it in a MeshMaterial structure.

Returns: The MeshMaterial data extracted from mesh file

Definition at line 115 of file polygon_mesh.cpp.

◆ getNormals()

const std::shared_ptr< const tesseract_common::VectorVector3d > & tesseract_geometry::PolygonMesh::getNormals ( ) const

Get the vertex normal vectors.

Optional, may be nullptr

Returns: The vertex normal vector

Definition at line 108 of file polygon_mesh.cpp.

◆ getResource()

tesseract_common::Resource::ConstPtr tesseract_geometry::PolygonMesh::getResource ( ) const

Get the path to file used to generate the mesh.

Note: If empty, assume it was manually generated.

Returns: Absolute path to the mesh file

Definition at line 104 of file polygon_mesh.cpp.

◆ getScale()

const Eigen::Vector3d & tesseract_geometry::PolygonMesh::getScale ( ) const

Get the scale applied to file used to generate the mesh.

Returns: The scale x, y, z

Definition at line 106 of file polygon_mesh.cpp.

◆ getTextures()

const std::shared_ptr< const std::vector< MeshTexture::Ptr > > & tesseract_geometry::PolygonMesh::getTextures ( ) const

Get textures extracted from the mesh file.

Mesh files contain (or reference) image files that form textures on the surface of the mesh. UV coordinates specify how the image is applied to the mesh. The MeshTexture structure contains a resource to the image, and the UV coordinates. Currently only jpg and png image formats are supported.

Returns: Vector of mesh textures

Definition at line 117 of file polygon_mesh.cpp.

◆ getVertexColors()

const std::shared_ptr< const tesseract_common::VectorVector4d > & tesseract_geometry::PolygonMesh::getVertexColors ( ) const

Get the vertex colors.

Optional, may be nullptr

Returns: Vertex colors

Definition at line 110 of file polygon_mesh.cpp.

◆ getVertexCount()

int tesseract_geometry::PolygonMesh::getVertexCount ( ) const

Get vertex count.

Returns: Number of vertices

Definition at line 100 of file polygon_mesh.cpp.

◆ getVertices()

const std::shared_ptr< const tesseract_common::VectorVector3d > & tesseract_geometry::PolygonMesh::getVertices ( ) const

Get Polygon mesh vertices.

Returns: A vector of vertices

Definition at line 96 of file polygon_mesh.cpp.

◆ operator!=()

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

Definition at line 134 of file polygon_mesh.cpp.

◆ operator==()

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

Todo:: Finish PolygonMesh == operator

Definition at line 124 of file polygon_mesh.cpp.

◆ serialize()

template<class Archive >

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

private

Todo:: Serialize mesh materials and textures

Definition at line 137 of file polygon_mesh.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 214 of file polygon_mesh.h.

◆ tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 215 of file polygon_mesh.h.

Member Data Documentation

◆ face_count_

int tesseract_geometry::PolygonMesh::face_count_ { 0 }

private

Definition at line 206 of file polygon_mesh.h.

◆ faces_

std::shared_ptr<const Eigen::VectorXi> tesseract_geometry::PolygonMesh::faces_

private

Definition at line 203 of file polygon_mesh.h.

◆ mesh_material_

std::shared_ptr<MeshMaterial> tesseract_geometry::PolygonMesh::mesh_material_

private

Definition at line 211 of file polygon_mesh.h.

◆ mesh_textures_

std::shared_ptr<const std::vector<std::shared_ptr<MeshTexture> > > tesseract_geometry::PolygonMesh::mesh_textures_

private

Definition at line 212 of file polygon_mesh.h.

◆ normals_

std::shared_ptr<const tesseract_common::VectorVector3d> tesseract_geometry::PolygonMesh::normals_

private

Definition at line 209 of file polygon_mesh.h.

◆ resource_

std::shared_ptr<const tesseract_common::Resource> tesseract_geometry::PolygonMesh::resource_

private

Definition at line 207 of file polygon_mesh.h.

◆ scale_

Eigen::Vector3d tesseract_geometry::PolygonMesh::scale_

private

Definition at line 208 of file polygon_mesh.h.

◆ vertex_colors_

std::shared_ptr<const tesseract_common::VectorVector4d> tesseract_geometry::PolygonMesh::vertex_colors_

private

Definition at line 210 of file polygon_mesh.h.

◆ vertex_count_

int tesseract_geometry::PolygonMesh::vertex_count_ { 0 }

private

Definition at line 205 of file polygon_mesh.h.

◆ vertices_

std::shared_ptr<const tesseract_common::VectorVector3d> tesseract_geometry::PolygonMesh::vertices_

private

Definition at line 202 of file polygon_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

Constructor & Destructor Documentation

◆ PolygonMesh() [1/3]

◆ PolygonMesh() [2/3]

◆ PolygonMesh() [3/3]

◆ ~PolygonMesh()

Member Function Documentation

◆ clone()

◆ getFaceCount()

◆ getFaces()

◆ getMaterial()

◆ getNormals()

◆ getResource()

◆ getScale()

◆ getTextures()

◆ getVertexColors()

◆ getVertexCount()

◆ getVertices()

◆ operator!=()

◆ operator==()

◆ serialize()

Friends And Related Function Documentation

◆ boost::serialization::access

◆ tesseract_common::Serialization

Member Data Documentation

◆ face_count_

◆ faces_

◆ mesh_material_

◆ mesh_textures_

◆ normals_

◆ resource_

◆ scale_

◆ vertex_colors_

◆ vertex_count_

◆ vertices_