Classes
class	Box

class	Capsule

class	CompoundMesh
	This is store meshes that are associated with as single resource. More...

class	Cone

class	ConvexMesh

class	Cylinder

class	Geometry

class	Mesh

class	MeshMaterial
	Represents material information extracted from a mesh file. More...

class	MeshTexture
	Represents a texture and UV coordinates extracted from a mesh file. More...

class	Octree

class	Plane

struct	PointCloud
	A basic point cloud structure to leverage instead of PCL. More...

class	PolygonMesh

class	SDFMesh

class	Sphere

Typedefs
using	Geometrys = std::vector< Geometry::Ptr >

using	GeometrysConst = std::vector< Geometry::ConstPtr >

Enumerations
enum	GeometryType : std::uint8_t { GeometryType::UNINITIALIZED, GeometryType::SPHERE, GeometryType::CYLINDER, GeometryType::CAPSULE, GeometryType::CONE, GeometryType::BOX, GeometryType::PLANE, GeometryType::MESH, GeometryType::CONVEX_MESH, GeometryType::SDF_MESH, GeometryType::OCTREE, GeometryType::POLYGON_MESH, GeometryType::COMPOUND_MESH }

enum	OctreeSubType : std::uint8_t { OctreeSubType::BOX, OctreeSubType::SPHERE_INSIDE, OctreeSubType::SPHERE_OUTSIDE }

Functions
template<class T >
std::vector< std::shared_ptr< T > >	createMeshFromAsset (const aiScene *scene, const Eigen::Vector3d &scale, tesseract_common::Resource::Ptr resource, bool normals, bool vertex_colors, bool material_and_texture)
	Create list of meshes from the assimp scene. More...

template<typename T >
static std::vector< std::shared_ptr< T > >	createMeshFromBytes (const std::string &url, const uint8_t *bytes, size_t bytes_len, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), bool triangulate=false, bool flatten=false, bool normals=false, bool vertex_colors=false, bool material_and_texture=false)
	Create a mesh from byte array. More...

template<class T >
std::vector< std::shared_ptr< T > >	createMeshFromPath (const std::string &path, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), bool triangulate=false, bool flatten=false, bool normals=false, bool vertex_colors=false, bool material_and_texture=false)
	Create a mesh using assimp from file path. More...

template<class T >
std::vector< std::shared_ptr< T > >	createMeshFromResource (tesseract_common::Resource::Ptr resource, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), bool triangulate=false, bool flatten=false, bool normals=false, bool vertex_colors=false, bool material_and_texture=false)
	Create a mesh using assimp from resource. More...

template<typename PointT >
std::unique_ptr< octomap::OcTree >	createOctree (const PointT &point_cloud, const double resolution, const bool prune, const bool binary=true)

template<class T >
std::vector< std::shared_ptr< T > >	extractMeshData (const aiScene scene, const aiNode node, const aiMatrix4x4 &parent_transform, const Eigen::Vector3d &scale, tesseract_common::Resource::Ptr resource, bool normals, bool vertex_colors, bool material_and_texture)

bool	isIdentical (const Geometry &geom1, const Geometry &geom2)
	Check if two Geometries are identical. More...

Variables
static const std::vector< std::string >	GeometryTypeStrings

Typedef Documentation

◆ Geometrys

using tesseract_geometry::Geometrys = typedef std::vector<Geometry::Ptr>

Definition at line 110 of file geometry.h.

◆ GeometrysConst

using tesseract_geometry::GeometrysConst = typedef std::vector<Geometry::ConstPtr>

Definition at line 111 of file geometry.h.

Enumeration Type Documentation

◆ GeometryType

enum tesseract_geometry::GeometryType : std::uint8_t

strong

Enumerator
UNINITIALIZED
SPHERE
CYLINDER
CAPSULE
CONE
BOX
PLANE
MESH
CONVEX_MESH
SDF_MESH
OCTREE
POLYGON_MESH
COMPOUND_MESH

Definition at line 48 of file geometry.h.

◆ OctreeSubType

enum tesseract_geometry::OctreeSubType : std::uint8_t

strong

Enumerator
BOX
SPHERE_INSIDE
SPHERE_OUTSIDE

Definition at line 51 of file octree.h.

Function Documentation

◆ createMeshFromAsset()

template<class T >

std::vector<std::shared_ptr<T> > tesseract_geometry::createMeshFromAsset	(	const aiScene *	scene,
		const Eigen::Vector3d &	scale,
		tesseract_common::Resource::Ptr	resource,
		bool	normals,
		bool	vertex_colors,
		bool	material_and_texture
	)

Create list of meshes from the assimp scene.

Parameters

scene	The assimp scene
scale	Perform an axis scaling
resource	The mesh resource that generated the scene
normals	If true, loads mesh normals
vertex_colors	If true, loads mesh vertex colors
material_and_texture	If true, loads mesh materials and textures

Returns: A list of tesseract meshes

Definition at line 333 of file mesh_parser.h.

◆ createMeshFromBytes()

template<typename T >

static std::vector<std::shared_ptr<T> > tesseract_geometry::createMeshFromBytes	(	const std::string &	url,
		const uint8_t *	bytes,
		size_t	bytes_len,
		const Eigen::Vector3d &	scale = `Eigen::Vector3d(1, 1, 1)`,
		bool	triangulate = `false`,
		bool	flatten = `false`,
		bool	normals = `false`,
		bool	vertex_colors = `false`,
		bool	material_and_texture = `false`
	)

static

Create a mesh from byte array.

Parameters

url	The URL of source resource
bytes	Byte array
bytes_len	The length of bytes
scale	Perform an axis scaling
triangulate	If true the mesh will be triangulated. This should be done for visual meshes. In the case of collision meshes do not triangulate convex hull meshes.
flatten	If true all meshes will be condensed into a single mesh. This should only be used for visual meshes, do not flatten collision meshes.
normals	If true, loads mesh normals
vertex_colors	If true, loads mesh vertex colors
material_and_texture	If true, loads mesh materials and textures

Returns

Definition at line 569 of file mesh_parser.h.

◆ createMeshFromPath()

template<class T >

std::vector<std::shared_ptr<T> > tesseract_geometry::createMeshFromPath	(	const std::string &	path,
		const Eigen::Vector3d &	scale = `Eigen::Vector3d(1, 1, 1)`,
		bool	triangulate = `false`,
		bool	flatten = `false`,
		bool	normals = `false`,
		bool	vertex_colors = `false`,
		bool	material_and_texture = `false`
	)

Create a mesh using assimp from file path.

Parameters

path	The file path to the mesh
scale	Perform an axis scaling
triangulate	If true the mesh will be triangulated. This should be done for visual meshes. In the case of collision meshes do not triangulate convex hull meshes.
flatten	If true all meshes will be condensed into a single mesh. This should only be used for visual meshes, do not flatten collision meshes.
normals	If true, loads mesh normals
vertex_colors	If true, loads mesh vertex colors
material_and_texture	If true, loads mesh materials and textures

Returns

Definition at line 370 of file mesh_parser.h.

◆ createMeshFromResource()

template<class T >

std::vector<std::shared_ptr<T> > tesseract_geometry::createMeshFromResource	(	tesseract_common::Resource::Ptr	resource,
		const Eigen::Vector3d &	scale = `Eigen::Vector3d(1, 1, 1)`,
		bool	triangulate = `false`,
		bool	flatten = `false`,
		bool	normals = `false`,
		bool	vertex_colors = `false`,
		bool	material_and_texture = `false`
	)

Create a mesh using assimp from resource.

Parameters

resource	The located resource
scale	Perform an axis scaling
triangulate	If true the mesh will be triangulated. This should be done for visual meshes. In the case of collision meshes do not triangulate convex hull meshes.
flatten	If true all meshes will be condensed into a single mesh. This should only be used for visual meshes, do not flatten collision meshes.
normals	If true, loads mesh normals
vertex_colors	If true, loads mesh vertex colors
material_and_texture	If true, loads mesh materials and textures

Returns

Definition at line 452 of file mesh_parser.h.

◆ createOctree()

template<typename PointT >

std::unique_ptr<octomap::OcTree> tesseract_geometry::createOctree	(	const PointT &	point_cloud,
		const double	resolution,
		const bool	prune,
		const bool	binary = `true`
	)

Definition at line 59 of file octree_utils.h.

◆ extractMeshData()

template<class T >

std::vector<std::shared_ptr<T> > tesseract_geometry::extractMeshData	(	const aiScene *	scene,
		const aiNode *	node,
		const aiMatrix4x4 &	parent_transform,
		const Eigen::Vector3d &	scale,
		tesseract_common::Resource::Ptr	resource,
		bool	normals,
		bool	vertex_colors,
		bool	material_and_texture
	)

The template type must have a constructor as follows Constructor(std::shared_ptr<tesseract_geometry::VectorVector3d> vertices, std::shared_ptr<std::vector<int>> faces, int face_count)

Definition at line 106 of file mesh_parser.h.

◆ isIdentical()

bool tesseract_geometry::isIdentical	(	const Geometry &	geom1,
		const Geometry &	geom2
	)

Check if two Geometries are identical.

Parameters

geom1	First Geometry
geom2	Second Geometry

Returns: True if identical, otherwise false

Definition at line 38 of file utils.cpp.

Variable Documentation

◆ GeometryTypeStrings

const std::vector<std::string> tesseract_geometry::GeometryTypeStrings

static

Initial value:

= { "UNINITIALIZED", "SPHERE",   "CYLINDER", "CAPSULE",
                                                              "CONE",          "BOX",      "PLANE",    "MESH",
                                                              "CONVEX_MESH",   "SDF_MESH", "OCTREE",   "POLYGON_MESH",
                                                              "COMPOUND_MESH" }

Definition at line 64 of file geometry.h.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ Geometrys

◆ GeometrysConst

Enumeration Type Documentation

◆ GeometryType

◆ OctreeSubType

Function Documentation

◆ createMeshFromAsset()

◆ createMeshFromBytes()

◆ createMeshFromPath()

◆ createMeshFromResource()

◆ createOctree()

◆ extractMeshData()

◆ isIdentical()

Variable Documentation

◆ GeometryTypeStrings