utils.cpp File Reference

Tesseract Geometry Utility Function. More...

#include <tesseract/common/macros.h>
#include <console_bridge/console.h>
#include <octomap/octomap.h>
#include <tesseract/geometry/utils.h>
#include <tesseract/geometry/geometries.h>
#include <tesseract/geometry/conversions.h>

Functions
bool	tesseract::geometry::isIdentical (const Geometry &geom1, const Geometry &geom2)
	Check if two Geometries are identical.
tesseract::common::VectorVector3d	tesseract::geometry::extractVertices (const Geometry &geom, const Eigen::Isometry3d &origin)
	A utility for extracting vertices from a geomtry If it is a primitive shape, it will be converted to a mesh and then extract vertices.

Detailed Description

Tesseract Geometry Utility Function.

Author

Levi Armstrong

Date

January 18, 2018

Copyright

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

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

isIdentical()

bool tesseract::geometry::isIdentical	(	const Geometry &	geom1,
		const Geometry &	geom2
	)

Check if two Geometries are identical.

Parameters

geom1	First Geometry
geom2	Second Geometry

Returns

True if identical, otherwise false

extractVertices()

tesseract::common::VectorVector3d tesseract::geometry::extractVertices	(	const Geometry &	geom,
		const Eigen::Isometry3d &	origin
	)

A utility for extracting vertices from a geomtry If it is a primitive shape, it will be converted to a mesh and then extract vertices.

Parameters

geom	The geometry to extract vertices from
origin	The origin of the geometry transform the extracted vertices

Returns

The extracted vertices