cnoid::ColdetModel Class Reference

#include <ColdetModel.h>

Inheritance diagram for cnoid::ColdetModel:

Public Types
enum	PrimitiveType {   SP_MESH, SP_BOX, SP_CYLINDER, SP_CONE,   SP_SPHERE, SP_PLANE }

Public Member Functions
	ColdetModel ()
	constructor More...
	ColdetModel (const ColdetModel &org)
	copy constructor More...
virtual	~ColdetModel ()
	destructor More...
virtual ColdetModel *	clone () const
void	cloneInternalModel ()
void	setName (const std::string &name)
	set name of this model More...
const std::string &	name () const
	get name of this model More...
void	setNumVertices (int n)
	set the number of vertices More...
int	getNumVertices () const
	get the number of vertices More...
void	setNumTriangles (int n)
	set the number of triangles More...
int	getNumTriangles () const
void	setVertex (int index, float x, float y, float z)
	add a vertex More...
void	addVertex (float x, float y, float z)
void	getVertex (int index, float &out_x, float &out_y, float &out_z) const
	get a vertex More...
void	setTriangle (int index, int v1, int v2, int v3)
	add a triangle More...
void	addTriangle (int v1, int v2, int v3)
void	getTriangle (int index, int &out_v1, int &out_v2, int &out_v3) const
void	build ()
	build tree of bounding boxes to accelerate collision check More...
bool	isValid () const
	check if build() is already called or not More...
void	setPosition (const Isometry3 &T)
void	setPosition (const double *R, const double *p)
	set position and orientation of this model More...
void	setPrimitiveType (PrimitiveType ptype)
	set primitive type More...
PrimitiveType	getPrimitiveType () const
	get primitive type More...
void	setNumPrimitiveParams (unsigned int nparam)
	set the number of parameters of primitive More...
bool	setPrimitiveParam (unsigned int index, float value)
	set a parameter of primitive More...
bool	getPrimitiveParam (unsigned int index, float &value) const
	get a parameter of primitive More...
void	setPrimitivePosition (const double *R, const double *p)
	set position and orientation of primitive More...
double	computeDistanceWithRay (const double *point, const double *dir)
	compute distance between a point and this mesh along ray More...
bool	checkCollisionWithPointCloud (const std::vector< Vector3 > &i_cloud, double i_radius)
	check collision between this triangle mesh and a point cloud More...
void	getBoundingBoxData (const int depth, std::vector< Vector3 > &out_boxes)
int	getAABBTreeDepth ()
int	getAABBmaxNum ()
int	numofBBtoDepth (int minNumofBB)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Friends
class	ColdetModelPair

Additional Inherited Members
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Member Enumeration Documentation

PrimitiveType

enum cnoid::ColdetModel::PrimitiveType

Enumerator
SP_MESH
SP_BOX
SP_CYLINDER
SP_CONE
SP_SPHERE
SP_PLANE

Constructor & Destructor Documentation

ColdetModel() [1/2]

ColdetModel::ColdetModel

(

)

constructor

ColdetModel() [2/2]

ColdetModel::ColdetModel

(

const ColdetModel &

org

)

copy constructor

Shape information stored in dataSet is shared with org

~ColdetModel()

ColdetModel::~ColdetModel ( )

virtual

destructor

Member Function Documentation

addTriangle()

void ColdetModel::addTriangle	(	int	v1,
		int	v2,
		int	v3
	)

add a triangle to the end of the vector

addVertex()

void ColdetModel::addVertex	(	float	x,
		float	y,
		float	z
	)

add a vertex to the end of the vector

build()

void ColdetModel::build

(

)

build tree of bounding boxes to accelerate collision check

This method must be called before doing collision check

checkCollisionWithPointCloud()

bool ColdetModel::checkCollisionWithPointCloud	(	const std::vector< Vector3 > &	i_cloud,
		double	i_radius
	)

check collision between this triangle mesh and a point cloud

Parameters

i_cloud	points
i_radius	radius of spheres assigned to the points

Returns

true if colliding, false otherwise

clone()

ColdetModel * ColdetModel::clone ( ) const

virtual

cloneInternalModel()

void ColdetModel::cloneInternalModel

(

)

computeDistanceWithRay()

double ColdetModel::computeDistanceWithRay	(	const double *	point,
		const double *	dir
	)

compute distance between a point and this mesh along ray

Parameters

point	a point
dir	direction of ray

Returns

distance if ray collides with this mesh, FLT_MAX otherwise

getAABBmaxNum()

int ColdetModel::getAABBmaxNum

(

)

getAABBTreeDepth()

int ColdetModel::getAABBTreeDepth

(

)

getBoundingBoxData()

void ColdetModel::getBoundingBoxData	(	const int	depth,
		std::vector< Vector3 > &	out_boxes
	)

getNumTriangles()

int ColdetModel::getNumTriangles

(

)

const

getNumVertices()

int ColdetModel::getNumVertices

(

)

const

get the number of vertices

Returns

the number of vertices

getPrimitiveParam()

bool ColdetModel::getPrimitiveParam	(	unsigned int	index,
		float &	value
	)		const

get a parameter of primitive

Parameters

index	index of the parameter
value	value of the parameter

Returns

true if the parameter is gotten successfully, false otherwise

getPrimitiveType()

ColdetModel::PrimitiveType ColdetModel::getPrimitiveType

(

)

const

get primitive type

Returns

primitive type

getTriangle()

void ColdetModel::getTriangle	(	int	index,
		int &	out_v1,
		int &	out_v2,
		int &	out_v3
	)		const

getVertex()

void ColdetModel::getVertex	(	int	index,
		float &	out_x,
		float &	out_y,
		float &	out_z
	)		const

get a vertex

Parameters

index	index of the vertex
out_x	x position of the vertex
out_y	y position of the vertex
out_z	z position of the vertex

isValid()

bool cnoid::ColdetModel::isValid ( ) const

inline

check if build() is already called or not

Returns

true if build() is already called, false otherwise

name()

const std::string& cnoid::ColdetModel::name ( ) const

inline

get name of this model

Returns

name name of this model

numofBBtoDepth()

int ColdetModel::numofBBtoDepth

(

int

minNumofBB

)

setName()

void cnoid::ColdetModel::setName ( const std::string &  name )

inline

set name of this model

Parameters

name	name of this model

setNumPrimitiveParams()

void ColdetModel::setNumPrimitiveParams

(

unsigned int

nparam

)

set the number of parameters of primitive

Parameters

nparam

the number of parameters of primitive

setNumTriangles()

void ColdetModel::setNumTriangles

(

int

n

)

set the number of triangles

Parameters

n	the number of triangles

setNumVertices()

void ColdetModel::setNumVertices

(

int

n

)

set the number of vertices

Parameters

n	the number of vertices

setPosition() [1/2]

void ColdetModel::setPosition	(	const double *	R,
		const double *	p
	)

set position and orientation of this model

Parameters

R	new orientation (row-major, length = 9)
p	new position (length = 3)

setPosition() [2/2]

void ColdetModel::setPosition

(

const Isometry3 &

T

)

setPrimitiveParam()

bool ColdetModel::setPrimitiveParam	(	unsigned int	index,
		float	value
	)

set a parameter of primitive

Parameters

index	index of the parameter
value	value of the parameter

Returns

true if the parameter is set successfully, false otherwise

setPrimitivePosition()

void ColdetModel::setPrimitivePosition	(	const double *	R,
		const double *	p
	)

set position and orientation of primitive

Parameters

R	orientation relative to link (length = 9)
p	position relative to link (length = 3)

setPrimitiveType()

void ColdetModel::setPrimitiveType

(

PrimitiveType

ptype

)

set primitive type

Parameters

ptype

primitive type

setTriangle()

void ColdetModel::setTriangle	(	int	index,
		int	v1,
		int	v2,
		int	v3
	)

add a triangle

Parameters

index	index of the triangle
v1	index of the first vertex
v2	index of the second vertex
v3	index of the third vertex

setVertex()

void ColdetModel::setVertex	(	int	index,
		float	x,
		float	y,
		float	z
	)

add a vertex

Parameters

index	index of the vertex
x	x position of the vertex
y	y position of the vertex
z	z position of the vertex

Friends And Related Function Documentation

ColdetModelPair

friend class ColdetModelPair

friend

---

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

• ColdetModel.h
• ColdetModel.cpp