Package org.robwork.sdurw_geometry

Class QuadraticSurfacePtr

java.lang.Object

org.robwork.sdurw_geometry.QuadraticSurfacePtr

public class QuadraticSurfacePtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
QuadraticSurfacePtr()	Default constructor yielding a NULL-pointer.
QuadraticSurfacePtr(long cPtr, boolean cMemoryOwn)
QuadraticSurfacePtr(QuadraticSurface ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
QuadraticSurface	__ref__()	Dereferencing operator.
SWIGTYPE_p_Eigen__Vector3d	a()	Get the 3d vector for the first order term in the implicit formulation.
SWIGTYPE_p_Eigen__Matrix3d	A()	Get the 3 x 3 symmetric matrix for the second order term in the implicit formulation.
void	addTrimmingCondition(ImplicitSurfaceCPtr condition)	Add a trimming condition to this surface.
double	call(Vector3D in)
QuadraticSurfacePtr	clone()
QuadraticSurfaceCPtr	cptr()
void	delete()
QuadraticSurface	deref()	The pointer stored in the object.
double	determinantA()	Get the determinant of the \mathbf{A} matrix.
SWIGTYPE_p_std__pairT_rw__geometry__QuadraticSurface_rw__math__Rotation3DT_t_t	diagonalize()	Get a diagonalization of the surface.
boolean	diagonalized()	Check if this surface is diagonalized.
boolean	equals(QuadraticSurface p)
pair_d_d	extremums(Vector3D direction)
static long	getCPtr(QuadraticSurfacePtr obj)
QuadraticSurface	getDeref()	Member access operator.
TriMeshPtr	getTriMesh()
TriMeshPtr	getTriMesh(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t border)
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__ImplicitSurface_const_t_t	getTrimmingConditions()	Get the trimming conditions for the surface.
Vector3D	gradient(Vector3D x)
boolean	insideTrimmingRegion(Vector3D P)
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
QuadraticSurfacePtr	makeCircularCone(double a, double b)
QuadraticSurfacePtr	makeCircularCylinder(double radius)
QuadraticSurfacePtr	makeCircularCylinder(double radius, boolean outward)
QuadraticSurfacePtr	makeCircularHyperboloidOneSheet(double a, double b)
QuadraticSurfacePtr	makeCircularHyperboloidTwoSheets(double a, double b)
QuadraticSurfacePtr	makeCircularParaboloid(double a)
QuadraticSurfacePtr	makeEllipsoid(double a, double b, double c)
QuadraticSurfacePtr	makeEllipticCone(double a, double b, double c)
QuadraticSurfacePtr	makeEllipticCylinder(double a, double b)
QuadraticSurfacePtr	makeEllipticHyperboloidOneSheet(double a, double b, double c)
QuadraticSurfacePtr	makeEllipticHyperboloidTwoSheets(double a, double b, double c)
QuadraticSurfacePtr	makeEllipticParaboloid(double a, double b)
QuadraticSurfacePtr	makeHyperbolicCylinder(double a, double b)
QuadraticSurfacePtr	makeHyperbolicParaboloid(double a, double b)
QuadraticSurfacePtr	makeParabolicCylinder(double a)
QuadraticSurfacePtr	makePlane(Vector3D n, double d)	Represent a plane as a QuadraticSurface. A plane is a particularly simple type of quadratic surface, where \mathbf{A}=\mathbf{0} . Even though a plane is not strictly a quadratic surface, is is often convenient to be able to treat it like a quadratic surface.
QuadraticSurfacePtr	makeSphere(double radius)
QuadraticSurfacePtr	makeSpheroid(double a, double b)
Vector3D	normal(Vector3D x)
QuadraticSurfacePtr	normalize()	Normalize the implicit expression such that the largest coefficient becomes one. For a quadratic surface, a scaling of \mathbf{A}, \mathbf{a} and u with a common factor, will give the exact same surface.
void	reuseTrimmingRegions(ImplicitSurfacePtr surface)
QuadraticSurfacePtr	scale(double factor)
void	setDiscretizationResolution(double resolution)
void	setTrimmingConditions(SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__ImplicitSurface_const_t_t conditions)	Set the trimming conditions of this surface.
boolean	SurfaceEqual(Surface surface, double threshold)
QuadraticSurfacePtr	transform(Transform3D T)	rw::math::Transform3D<double>&) const
QuadraticSurfacePtr	transform(Vector3D P)	rw::math::Vector3D<double>&) const
double	u()	Get the scalar for the zero order term in the implicit formulation.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

QuadraticSurfacePtr

public QuadraticSurfacePtr(long cPtr,
                           boolean cMemoryOwn)

QuadraticSurfacePtr

public QuadraticSurfacePtr()

Default constructor yielding a NULL-pointer.

QuadraticSurfacePtr

public QuadraticSurfacePtr(QuadraticSurface ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(QuadraticSurfacePtr obj)

delete

public void delete()

deref

public QuadraticSurface deref()

The pointer stored in the object.

__ref__

public QuadraticSurface __ref__()

Dereferencing operator.

getDeref

public QuadraticSurface getDeref()

Member access operator.

equals

public boolean equals(QuadraticSurface p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

cptr

public QuadraticSurfaceCPtr cptr()

transform

public QuadraticSurfacePtr transform(Transform3D T)

rw::math::Transform3D<double>&) const

transform

public QuadraticSurfacePtr transform(Vector3D P)

rw::math::Vector3D<double>&) const

scale

public QuadraticSurfacePtr scale(double factor)

clone

public QuadraticSurfacePtr clone()

extremums

public pair_d_d extremums(Vector3D direction)

getTriMesh

public TriMeshPtr getTriMesh(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t border)

getTriMesh

public TriMeshPtr getTriMesh()

setDiscretizationResolution

public void setDiscretizationResolution(double resolution)

SurfaceEqual

public boolean SurfaceEqual(Surface surface,
                            double threshold)

call

public double call(Vector3D in)

insideTrimmingRegion

public boolean insideTrimmingRegion(Vector3D P)

normal

public Vector3D normal(Vector3D x)

gradient

public Vector3D gradient(Vector3D x)

reuseTrimmingRegions

public void reuseTrimmingRegions(ImplicitSurfacePtr surface)

A

public SWIGTYPE_p_Eigen__Matrix3d A()

Get the 3 x 3 symmetric matrix for the second order term in the implicit formulation.

a

public SWIGTYPE_p_Eigen__Vector3d a()

Get the 3d vector for the first order term in the implicit formulation.

u

public double u()

Get the scalar for the zero order term in the implicit formulation.

determinantA

public double determinantA()

Get the determinant of the \mathbf{A} matrix.

Returns:

the determinant.

normalize

public QuadraticSurfacePtr normalize()

Normalize the implicit expression such that the largest coefficient becomes one.

For a quadratic surface, a scaling of \mathbf{A}, \mathbf{a} and u with a common
factor, will give the exact same surface. This means that the numerical values can get
arbitrarily big or small. This functions scales the expression such that the largest
element becomes 1.

Returns:

a mathematically identical surface, where the coefficients of the defining
equation is normalized.

getTrimmingConditions

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__ImplicitSurface_const_t_t getTrimmingConditions()

Get the trimming conditions for the surface.

Returns:

ImplicitSurface vector specifying the boundary of the surface. If surface is
unbounded, the length of the vector is zero.

setTrimmingConditions

public void setTrimmingConditions(SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__ImplicitSurface_const_t_t conditions)

Set the trimming conditions of this surface.

Parameters:

conditions - [in] a vector of conditions.

addTrimmingCondition

public void addTrimmingCondition(ImplicitSurfaceCPtr condition)

Add a trimming condition to this surface.

Parameters:

condition - [in] the condition to add.

diagonalize

public SWIGTYPE_p_std__pairT_rw__geometry__QuadraticSurface_rw__math__Rotation3DT_t_t diagonalize()

Get a diagonalization of the surface.

Returns:

the diagonalized surface, and the rotation transforming this surface into the
diagonalized surface.

diagonalized

public boolean diagonalized()

Check if this surface is diagonalized.

Returns:

true if A is digaonalized, false otherwise.

makeEllipsoid

public QuadraticSurfacePtr makeEllipsoid(double a,
                                         double b,
                                         double c)

makeSpheroid

public QuadraticSurfacePtr makeSpheroid(double a,
                                        double b)

makeSphere

public QuadraticSurfacePtr makeSphere(double radius)

makeEllipticParaboloid

public QuadraticSurfacePtr makeEllipticParaboloid(double a,
                                                  double b)

makeCircularParaboloid

public QuadraticSurfacePtr makeCircularParaboloid(double a)

makeHyperbolicParaboloid

public QuadraticSurfacePtr makeHyperbolicParaboloid(double a,
                                                    double b)

makeEllipticHyperboloidOneSheet

public QuadraticSurfacePtr makeEllipticHyperboloidOneSheet(double a,
                                                           double b,
                                                           double c)

makeCircularHyperboloidOneSheet

public QuadraticSurfacePtr makeCircularHyperboloidOneSheet(double a,
                                                           double b)

makeEllipticHyperboloidTwoSheets

public QuadraticSurfacePtr makeEllipticHyperboloidTwoSheets(double a,
                                                            double b,
                                                            double c)

makeCircularHyperboloidTwoSheets

public QuadraticSurfacePtr makeCircularHyperboloidTwoSheets(double a,
                                                            double b)

makeEllipticCone

public QuadraticSurfacePtr makeEllipticCone(double a,
                                            double b,
                                            double c)

makeCircularCone

public QuadraticSurfacePtr makeCircularCone(double a,
                                            double b)

makeEllipticCylinder

public QuadraticSurfacePtr makeEllipticCylinder(double a,
                                                double b)

makeCircularCylinder

public QuadraticSurfacePtr makeCircularCylinder(double radius,
                                                boolean outward)

makeCircularCylinder

public QuadraticSurfacePtr makeCircularCylinder(double radius)

makeHyperbolicCylinder

public QuadraticSurfacePtr makeHyperbolicCylinder(double a,
                                                  double b)

makeParabolicCylinder

public QuadraticSurfacePtr makeParabolicCylinder(double a)

makePlane

public QuadraticSurfacePtr makePlane(Vector3D n,
                                     double d)

Represent a plane as a QuadraticSurface.

A plane is a particularly simple type of quadratic surface, where
\mathbf{A}=\mathbf{0} .

Even though a plane is not strictly a quadratic surface, is is often convenient to be
able to treat it like a quadratic surface.

Parameters:

n - [in] the normal of the plane.

d - [in] the distance from the plane to the origo.

Returns:

a QuadraticSurface representing a plane.