a class for representing a geometry that is scaled and transformed, and which is attached to a frame. More...

#include <Geometry.hpp>

Public Types
enum	GeometryGroupMask { PhysicalGroup = 1 , VirtualGroup = 2 , DrawableGroup = 4 , CollisionGroup = 8 , User1Group = 1024 , User2Group = 2048 , User3Group = 4096 , User4Group = 8096 , ALL = 0xFFFFFFFF }
	A geometry may belong to a specific group of geometries. These groups are used for fast exclude filtering of geometry data in collision detection, visualization and such. There are 4 predefined groups used by RobWork. More...

typedef rw::core::Ptr< Geometry >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const Geometry >	CPtr
	smart pointer type to this const class

Public Member Functions
	Geometry (GeometryData::Ptr data, double scale=1.0)
	constructor - autogenerated id from geometry type. More...

	Geometry (GeometryData::Ptr data, const std::string &name, double scale=1.00)
	constructor giving a specified id. More...

	Geometry (GeometryData::Ptr data, const rw::math::Transform3D<> &t3d, double scale=1.0)
	constructor - autogenerated id from geometry type. More...

virtual	~Geometry ()
	destructor

double	getScale () const
	gets the scaling factor applied when using this geometry More...

void	setScale (double scale)
	set the scaling factor that should be applied to this geometry when used. More...

void	setTransform (const rw::math::Transform3D<> &t3d)
	set transformation More...

const rw::math::Transform3D &	getTransform () const
	get transformation More...

GeometryData::Ptr	getGeometryData ()
	get geometry data More...

const GeometryData::Ptr	getGeometryData () const
	get geometry data

void	setGeometryData (GeometryData::Ptr data)
	set transformation More...

const std::string &	getName () const
	get name of this geometry More...

const std::string &	getFilePath () const
	get file path of this geometry More...

const std::string &	getId () const
	get identifier of this geometry More...

void	setName (const std::string &name)
	set name of this geometry More...

void	setFilePath (const std::string &name)
	set file path this geometry More...

void	setId (const std::string &id)
	set identifier of this geometry More...

void	setColor (unsigned char red, unsigned char green, unsigned char blue)
	set the color of the geometry More...

void	setColor (float red, float green, float blue)
	set the color of the geometry More...

void	setFrame (rw::core::Ptr< rw::kinematics::Frame > frame)
	Set the reference frame. More...

rw::kinematics::Frame *	getFrame ()
	Get the reference frame. More...

const rw::kinematics::Frame *	getFrame () const
	Get the reference frame. More...

void	setMask (int mask)
	Set the draw mask. More...

int	getMask ()
	Get the draw mask. More...

void	getColor (float color[3])
	get the color stored for the object More...

Static Public Member Functions
static Geometry::Ptr	makeSphere (double radi)
	util function for creating a Sphere geometry

static Geometry::Ptr	makeBox (double x, double y, double z)
	util function for creating a Box geometry

static Geometry::Ptr	makeCone (double height, double radiusTop, double radiusBot)
	util function for creating a Cone geometry

static Geometry::Ptr	makeCylinder (float radius, float height)
	util function for creating a Cylinder geometry

static Geometry::Ptr	makeGrid (int dim_x, int dim_y, double size_x=1.0, double size_y=1.0, const rw::math::Vector3D< double > &xdir=rw::math::Vector3D< double >::x(), const rw::math::Vector3D< double > &ydir=rw::math::Vector3D< double >::y())
	Construct a grid. More...

Detailed Description

a class for representing a geometry that is scaled and transformed, and which is attached to a frame.

Each geometry must have a unique ID. This is either auto generated or specified by user. The ids are used in collision detection and other algorithms where the object need an association other than its memory address.

Member Enumeration Documentation

◆ GeometryGroupMask

enum GeometryGroupMask

A geometry may belong to a specific group of geometries. These groups are used for fast exclude filtering of geometry data in collision detection, visualization and such. There are 4 predefined groups used by RobWork.

Enumerator
VirtualGroup	A physical object in the scene.
DrawableGroup	A virtual object, e.g. lines showing camera view angle.
CollisionGroup	An object that is "just" a drawable.
User1Group	An object that is also a CollisionObject.
User2Group	User defined group 1... User2
User3Group	User3.
User4Group	User4.

Constructor & Destructor Documentation

◆ Geometry() [1/3]

Geometry	(	GeometryData::Ptr	data,
		double	scale = `1.0`
	)

constructor - autogenerated id from geometry type.

Parameters

data
scale

◆ Geometry() [2/3]

Geometry	(	GeometryData::Ptr	data,
		const std::string &	name,
		double	scale = `1.00`
	)

constructor giving a specified id.

Parameters

data	[in] pointer to geometry data
name	[in] Unique name to be assigned for the geometry
scale	[in] scaling factor

◆ Geometry() [3/3]

Geometry	(	GeometryData::Ptr	data,
		const rw::math::Transform3D<> &	t3d,
		double	scale = `1.0`
	)

constructor - autogenerated id from geometry type.

Parameters

data	[in] pointer to geometry data
t3d	[in] transform
scale	[in] scaling factor

Member Function Documentation

◆ getColor()

void getColor ( float color[3] )

inline

get the color stored for the object

Parameters

color [out] the array to store the color in

◆ getFilePath()

const std::string& getFilePath ( ) const

inline

get file path of this geometry

Returns: the file path as string

◆ getFrame() [1/2]

rw::kinematics::Frame* getFrame ( )

inline

Get the reference frame.

Returns: the reference frame.

◆ getFrame() [2/2]

const rw::kinematics::Frame* getFrame ( ) const

inline

Get the reference frame.

Returns: the reference frame.

◆ getGeometryData()

GeometryData::Ptr getGeometryData ( )

inline

get geometry data

Returns: the geometry data stored

◆ getId()

const std::string& getId ( ) const

inline

get identifier of this geometry

Returns: the id of the geometry

◆ getMask()

int getMask ( )

inline

Get the draw mask.

Returns: the draw mask.

◆ getName()

const std::string& getName ( ) const

inline

get name of this geometry

Returns: name as string

◆ getScale()

double getScale ( ) const

inline

gets the scaling factor applied when using this geometry

Returns: the scale as double

◆ getTransform()

const rw::math::Transform3D& getTransform ( ) const

inline

get transformation

Returns: the Current transform

◆ makeGrid()

static Geometry::Ptr makeGrid	(	int	dim_x,
		int	dim_y,
		double	size_x = `1.0`,
		double	size_y = `1.0`,
		const rw::math::Vector3D< double > &	xdir = `rw::math::Vector3D< double >::x()`,
		const rw::math::Vector3D< double > &	ydir = `rw::math::Vector3D< double >::y()`
	)

static

Construct a grid.

Parameters

dim_x	[in] number of cells in first direction.
dim_y	[in] number of cells in second direction.
size_x	[in] size of one cell.
size_y	[in] size of one cell.
xdir	[in] the direction of the first dimension.
ydir	[in] the direction of the second dimension.

Returns: a new grid geometry.

◆ setColor() [1/2]

void setColor	(	float	red,
		float	green,
		float	blue
	)

set the color of the geometry

Parameters

red	[in] the amount of red color 0-1
green	[in] the amount of green color 0-1
blue	[in] the amount of red color 0-1

◆ setColor() [2/2]

void setColor	(	unsigned char	red,
		unsigned char	green,
		unsigned char	blue
	)

inline

set the color of the geometry

Parameters

red	[in] the amount of red color 0-255
green	[in] the amount of green color 0-255
blue	[in] the amount of red color 0-255

◆ setFilePath()

void setFilePath ( const std::string & name )

inline

set file path this geometry

Parameters

name	[in] path to a geometry file

◆ setFrame()

void setFrame ( rw::core::Ptr< rw::kinematics::Frame > frame )

inline

Set the reference frame.

Parameters

frame [in] new reference frame.

◆ setGeometryData()

void setGeometryData ( GeometryData::Ptr data )

inline

set transformation

Parameters

data	[in] the new geometry data

◆ setId()

void setId ( const std::string & id )

inline

set identifier of this geometry

Parameters

id	[in] new id

◆ setMask()

void setMask ( int mask )

inline

Set the draw mask.

Parameters

mask	[in] the draw mask.

◆ setName()

void setName ( const std::string & name )

inline

set name of this geometry

Parameters

name	[in] the new name of the geometry

◆ setScale()

void setScale ( double scale )

inline

set the scaling factor that should be applied to this geometry when used.

Parameters

scale [in] scale factor

◆ setTransform()

void setTransform ( const rw::math::Transform3D<> & t3d )

inline

set transformation

Parameters

t3d	[in] the new transform

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

Geometry.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ GeometryGroupMask

Constructor & Destructor Documentation

◆ Geometry() [1/3]

◆ Geometry() [2/3]

◆ Geometry() [3/3]

Member Function Documentation

◆ getColor()

◆ getFilePath()

◆ getFrame() [1/2]

◆ getFrame() [2/2]

◆ getGeometryData()

◆ getId()

◆ getMask()

◆ getName()

◆ getScale()

◆ getTransform()

◆ makeGrid()

◆ setColor() [1/2]

◆ setColor() [2/2]

◆ setFilePath()

◆ setFrame()

◆ setGeometryData()

◆ setId()

◆ setMask()

◆ setName()

◆ setScale()

◆ setTransform()