This is a collection of common methods. More...

#include <tesseract/common/types.h>
#include <tesseract/geometry/impl/mesh.h>
#include <tesseract/geometry/impl/convex_mesh.h>

Functions
int	tesseract::collision::createConvexHull (tesseract::common::VectorVector3d &vertices, Eigen::VectorXi &faces, const tesseract::common::VectorVector3d &input, double shrink=-1, double shrinkClamp=-1)
	Create a convex hull from vertices using Bullet Convex Hull Computer.

tesseract::geometry::ConvexMesh::Ptr	tesseract::collision::makeConvexMesh (const tesseract::geometry::Mesh &mesh)

Detailed Description

This is a collection of common methods.

: Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

: Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

int tesseract::collision::createConvexHull	(	tesseract::common::VectorVector3d &	vertices,
		Eigen::VectorXi &	faces,
		const tesseract::common::VectorVector3d &	input,
		double	shrink = `-1`,
		double	shrinkClamp = `-1`
	)

Create a convex hull from vertices using Bullet Convex Hull Computer.

Parameters

(Output)	vertices A vector of vertices
(Output)	faces The first values indicates the number of vertices that define the face followed by the vertices index
(input)	input A vector of point to create a convex hull from
(input)	shrink If positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units towards the center along its normal).
(input)	shrinkClamp If positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" is the minimum distance of a face to the center of the convex hull.

Returns: The number of faces. If less than zero an error occurred when trying to create the convex hull