d0/d01/convex__hull__utils_8h_source.html

#ifndef TESSERACT_COLLISION_BULLET_CONVEX_HULL_UTILS_H

#define TESSERACT_COLLISION_BULLET_CONVEX_HULL_UTILS_H


#include <tesseract_common/types.h>

#include <tesseract_geometry/impl/mesh.h>

#include <tesseract_geometry/impl/convex_mesh.h>


namespace tesseract_collision

{

int createConvexHull(tesseract_common::VectorVector3d& vertices,

                     Eigen::VectorXi& faces,

                     const tesseract_common::VectorVector3d& input,

                     double shrink = -1,

                     double shrinkClamp = -1);


tesseract_geometry::ConvexMesh::Ptr makeConvexMesh(const tesseract_geometry::Mesh& mesh);


}  // namespace tesseract_collision


#endif  // TESSERACT_COLLISION_BULLET_CONVEX_HULL_UTILS_H

tesseract_geometry::ConvexMesh::Ptr
std::shared_ptr< ConvexMesh > Ptr
Definition: convex_mesh.h:50

tesseract_geometry::Mesh
Definition: mesh.h:46

tesseract_collision
Definition: bullet_cast_bvh_manager.h:49

tesseract_collision::createConvexHull
int 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.
Definition: convex_hull_utils.cpp:37

tesseract_collision::makeConvexMesh
tesseract_geometry::ConvexMesh::Ptr makeConvexMesh(const tesseract_geometry::Mesh &mesh)
Definition: convex_hull_utils.cpp:114

tesseract_common::VectorVector3d
std::vector< Eigen::Vector3d > VectorVector3d
Definition: types.h:64

types.h
Common Tesseract Types.

convex_mesh.h
Tesseract Convex Mesh Geometry.

mesh.h
Tesseract Mesh Geometry.

faces
std::shared_ptr< const Eigen::VectorXi > faces
Definition: tesseract_geometry_unit.cpp:16

mesh
auto mesh
Definition: tesseract_geometry_unit.cpp:25