Tube Class Reference

a tube primitive. radius is in xy-plane and height is in z-axis More...

#include <Tube.hpp>

Inherits Primitive.

Public Member Functions
	Tube (float radius, float thickness, float height, int levels=16)
	Constructs tube primitive with the specified setup. More...
	Tube (const rw::math::Q &initQ, int levels=16)
	Constructs tube primitive based on vector with parameters. More...
virtual	~Tube ()
	destructor
float	getInnerRadius () const
	Get the inner radius of the tube. More...
float	getThickness () const
	Get the thickness of the tube. More...
float	getHeight () const
	Get the height of the tube. More...
TriMesh::Ptr	createMesh (int resolution) const
	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
	get the parameters that define this primitive More...
virtual void	setParameters (const rw::math::Q &q)
	set the parameters that define this primitive More...
GeometryType	getType () const
	the type of this primitive More...
Public Member Functions inherited from Primitive
virtual	~Primitive ()
	destructor
TriMesh::Ptr	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...
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.

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

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

Detailed Description

a tube primitive. radius is in xy-plane and height is in z-axis

Constructor & Destructor Documentation

Tube() [1/2]

Tube	(	float	radius,
		float	thickness,
		float	height,
		int	levels = 16
	)

Constructs tube primitive with the specified setup.

The tube is aligned with the height in the z-direction such that tube extends height/2 above and below the xy-plane.

Parameters

radius	[in] inner radius of the tube.
thickness	[in] thickness of the tube.
height	[in] height of the cylinder.
levels	[in] granularity of the mesh.

Tube() [2/2]

Tube	(	const rw::math::Q &	initQ,
		int	levels = 16
	)

Constructs tube primitive based on vector with parameters.

Parameters

initQ	[in] vector of (radius, height)
levels	[in] granularity of the mesh

Member Function Documentation

createMesh()

TriMesh::Ptr createMesh ( int  resolution ) const

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]

Implements Primitive.

doIsInside()

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

protectedvirtual

Check if point lies inside geometry.

Parameters

point

[in] point to check.

Returns

true if inside geometry, false otherwise.

Reimplemented from Primitive.

getHeight()

float getHeight

(

)

const

Get the height of the tube.

Returns

the height

getInnerRadius()

float getInnerRadius

(

)

const

Get the inner radius of the tube.

Returns

the radius

getParameters()

virtual rw::math::Q getParameters ( ) const

virtual

get the parameters that define this primitive

Implements Primitive.

getThickness()

float getThickness

(

)

const

Get the thickness of the tube.

Returns

the thickness.

getType()

GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

setParameters()

virtual void setParameters ( const rw::math::Q &  q )

virtual

set the parameters that define this primitive

Implements Primitive.

---

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

• Tube.hpp