Package org.robwork.sdurw_geometry

Class TriMeshSurfaceSamplerPtr

java.lang.Object

org.robwork.sdurw_geometry.TriMeshSurfaceSamplerPtr

public class TriMeshSurfaceSamplerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
TriMeshSurfaceSampler	__ref__()	Dereferencing operator.
void	add(GeometryPtr geom)	add surface representing geometry to this sampler
void	add(TriMeshPtr mesh)	add surface mesh.
TriMeshSurfaceSamplerCPtr	cptr()
void	delete()
TriMeshSurfaceSampler	deref()	The pointer stored in the object.
boolean	equals(TriMeshSurfaceSampler p)
static long	getCPtr(TriMeshSurfaceSamplerPtr obj)
TriMeshSurfaceSampler	getDeref()	Member access operator.
TriMeshPtr	getMesh()	return the mesh that is being sampled
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
Transform3D	sample()	sample a pose on the surface of the object.
Vector3D	samplePoint()	sample point on surface of object Conditional comment: End of conditional comment.
void	setBoundsD(double minD, double maxD)	set the bounds to which the random position around the sampled surface point will be generated.
void	setRandomPositionEnabled(boolean enabled)	enables generation of a random position within the sampled surface position. The local point will be generated within a min and max distance from the sampled surface point.
void	setRandomRotationEnabled(boolean enabled)	enable the generation of a random rotation instead of a rotation with the z-axis pointing in the surface normal direction.
void	setZAxisDirection(Vector3D dir)	sets the direction that the z-axis must point into.
void	setZAxisDirectionEnabled(boolean enabled)	enable z-axis direction filtering.

Methods inherited from class java.lang.Object

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

Constructor Detail

TriMeshSurfaceSamplerPtr

public TriMeshSurfaceSamplerPtr(long cPtr,
                                boolean cMemoryOwn)

TriMeshSurfaceSamplerPtr

public TriMeshSurfaceSamplerPtr()

Default constructor yielding a NULL-pointer.

TriMeshSurfaceSamplerPtr

public TriMeshSurfaceSamplerPtr(TriMeshSurfaceSampler ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(TriMeshSurfaceSamplerPtr obj)

delete

public void delete()

deref

public TriMeshSurfaceSampler deref()

The pointer stored in the object.

__ref__

public TriMeshSurfaceSampler __ref__()

Dereferencing operator.

getDeref

public TriMeshSurfaceSampler getDeref()

Member access operator.

equals

public boolean equals(TriMeshSurfaceSampler 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 TriMeshSurfaceSamplerCPtr cptr()

add

public void add(GeometryPtr geom)

add surface representing geometry to this sampler

Parameters:

geom - [in] geometry representing surface to be sampled

add

public void add(TriMeshPtr mesh)

add surface mesh.

Parameters:

mesh - [in] mesh to add to sampler.

sample

public Transform3D sample()

sample a pose on the surface of the object.

Returns:

transform3d of the sampled pose

samplePoint

public Vector3D samplePoint()

sample point on surface of object
Conditional comment:

End of conditional comment.

setBoundsD

public void setBoundsD(double minD,
                       double maxD)

set the bounds to which the random position around the sampled surface
point will be generated. See setRandomPositionEnabled

Parameters:

minD - [in] minimum distance

maxD - [in] maximum distance.

setRandomRotationEnabled

public void setRandomRotationEnabled(boolean enabled)

enable the generation of a random rotation instead of a rotation with
the z-axis pointing in the surface normal direction.

Parameters:

enabled - [in]

setRandomPositionEnabled

public void setRandomPositionEnabled(boolean enabled)

enables generation of a random position within the sampled surface position.
The local point will be generated within a min and max distance from the sampled
surface point. See setBoundsD

Parameters:

enabled - [in] true to enable local random generation around sampled surface point.
False otherwise.

setZAxisDirectionEnabled

public void setZAxisDirectionEnabled(boolean enabled)

enable z-axis direction filtering. See setZAxisDirection for information
on setting the direction.

Parameters:

enabled -

setZAxisDirection

public void setZAxisDirection(Vector3D dir)

sets the direction that the z-axis must point into. this is equal
to testing if the z-axis of the generated pose lies on the right side of
the plane defined by the plane normal dir and (0,0,0).

Setting this also sets setZAxisDirectionEnabled( true )

Parameters:

dir - [in]

getMesh

public TriMeshPtr getMesh()

return the mesh that is being sampled

Returns:

mesh