Primitive Class Reference

defines an interface for a geometric shape that is defined by a set of parameters. More...

#include <Primitive.hpp>

Inherits GeometryData.

Inherited by Box, Cone, Cylinder, Line, Plane, Pyramid, Sphere, Tube, and SimpleFinger.

Public Types
typedef rw::core::Ptr< Primitive >	Ptr
	Smart pointer to this type of class.
Public Types inherited from GeometryData
enum	GeometryType {   PointCloud , LineMesh , PlainTriMesh , IdxTriMesh ,   SpherePrim , BoxPrim , OBBPrim , AABBPrim ,   LinePrim , PointPrim , PyramidPrim , ConePrim ,   TrianglePrim , CylinderPrim , TubePrim , PlanePrim ,   RayPrim , Implicit , Quadratic , UserType }
	geometry data types
typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class

Public Member Functions
virtual	~Primitive ()
	destructor
TriMesh::Ptr	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...
virtual TriMesh::Ptr	createMesh (int resolution) const =0
	make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into More...
virtual rw::math::Q	getParameters () const =0
	get the parameters that define this primitive
virtual void	setParameters (const rw::math::Q &q)=0
	set the parameters that define this primitive
virtual bool	isConvex ()
	test if this geometry data is convex More...
bool	isInside (const rw::math::Vector3D< double > &point)
	test if a point is on the border or inside this primitive
Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.
virtual GeometryType	getType () const =0
	the type of this primitive

Protected Member Functions
virtual bool	doIsInside (const rw::math::Vector3D< double > &point)
	Check if point lies inside geometry. More...
	Primitive (int levels=20)
	Constructor. More...

Additional Inherited Members
Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Detailed Description

defines an interface for a geometric shape that is defined by a set of parameters.

Constructor & Destructor Documentation

Primitive()

Primitive ( int  levels = 20 )

inlineprotected

Constructor.

Parameters

levels

[in] mesh resolution.

Member Function Documentation

createMesh()

virtual TriMesh::Ptr createMesh ( int  resolution ) const

pure virtual

make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into

Parameters

resolution

[in]

Implemented in SimpleFinger, Tube, Sphere, Ray, Pyramid, Plane, Line, Cylinder, Cone, and Box.

doIsInside()

virtual bool doIsInside ( const rw::math::Vector3D< double > &  point )

inlineprotectedvirtual

Check if point lies inside geometry.

Parameters

point

[in] point to check.

Returns

true if inside geometry, false otherwise.

Reimplemented in Tube, Sphere, Pyramid, Plane, Cone, and Box.

getTriMesh()

TriMesh::Ptr getTriMesh ( bool  forceCopy = true )

inlinevirtual

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means ownership is transfered to the caller. Specifying forceCopy to false will enable copy by reference and ownership is not necesarilly transfered. This is more efficient, though pointer is only alive as long as this GeometryData is alive.

Returns

TriMesh representation of this GeometryData

Note

primitives allways return a new trimesh

Implements GeometryData.

isConvex()

virtual bool isConvex ( )

inlinevirtual

test if this geometry data is convex

Returns

true if convex

Reimplemented from GeometryData.

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The documentation for this class was generated from the following file:

• Primitive.hpp