tesseract_geometry Namespace Reference

Classes
class	Box
class	Capsule
class	Cone
class	ConvexMesh
class	Cylinder
class	Geometry
class	Mesh
class	MeshMaterial
	Represents material information extracted from a mesh file. More...
class	MeshTexture
	Represents a texture and UV coordinates extracted from a mesh file. More...
class	Octree
class	Plane
class	PolygonMesh
class	SDFMesh
class	Sphere

Typedefs
using	Geometrys = std::vector< Geometry::Ptr >
using	GeometrysConst = std::vector< Geometry::ConstPtr >

Enumerations
enum	GeometryType {   UNINITIALIZED , SPHERE , CYLINDER , CAPSULE ,   CONE , BOX , PLANE , MESH ,   CONVEX_MESH , SDF_MESH , OCTREE , POLYGON_MESH }

Functions
template<class T >
std::vector< std::shared_ptr< T > >	extractMeshData (const aiScene *scene, const aiNode *node, const aiMatrix4x4 &parent_transform, const Eigen::Vector3d &scale, tesseract_common::Resource::Ptr resource, bool normals, bool vertex_colors, bool material_and_texture)
template<class T >
std::vector< std::shared_ptr< T > >	createMeshFromAsset (const aiScene *scene, const Eigen::Vector3d &scale, tesseract_common::Resource::Ptr resource, bool normals, bool vertex_colors, bool material_and_texture)
	Create list of meshes from the assimp scene. More...
template<class T >
std::vector< std::shared_ptr< T > >	createMeshFromPath (const std::string &path, Eigen::Vector3d scale=Eigen::Vector3d(1, 1, 1), bool triangulate=false, bool flatten=false, bool normals=false, bool vertex_colors=false, bool material_and_texture=false)
	Create a mesh using assimp from file path. More...
template<class T >
std::vector< std::shared_ptr< T > >	createMeshFromResource (tesseract_common::Resource::Ptr resource, Eigen::Vector3d scale=Eigen::Vector3d(1, 1, 1), bool triangulate=false, bool flatten=false, bool normals=false, bool vertex_colors=false, bool material_and_texture=false)
	Create a mesh using assimp from resource. More...
template<typename T >
static std::vector< std::shared_ptr< T > >	createMeshFromBytes (const std::string &url, const uint8_t *bytes, size_t bytes_len, Eigen::Vector3d scale=Eigen::Vector3d(1, 1, 1), bool triangulate=false, bool flatten=false, bool normals=false, bool vertex_colors=false, bool material_and_texture=false)
	Create a mesh from byte array. More...
bool	isIdentical (const Geometry &geom1, const Geometry &geom2)
	Check if two Geometries are identical. More...

Variables
static const std::vector< std::string >	GeometryTypeStrings

Typedef Documentation

Geometrys

using tesseract_geometry::Geometrys = typedef std::vector<Geometry::Ptr>

GeometrysConst

using tesseract_geometry::GeometrysConst = typedef std::vector<Geometry::ConstPtr>

Enumeration Type Documentation

GeometryType

enum tesseract_geometry::GeometryType

Enumerator
UNINITIALIZED
SPHERE
CYLINDER
CAPSULE
CONE
BOX
PLANE
MESH
CONVEX_MESH
SDF_MESH
OCTREE
POLYGON_MESH

Function Documentation

createMeshFromAsset()

template<class T >

std::vector< std::shared_ptr< T > > tesseract_geometry::createMeshFromAsset	(	const aiScene *	scene,
		const Eigen::Vector3d &	scale,
		tesseract_common::Resource::Ptr	resource,
		bool	normals,
		bool	vertex_colors,
		bool	material_and_texture
	)

Create list of meshes from the assimp scene.

Parameters

scene	The assimp scene
scale	Perform an axis scaling
resource	The mesh resource that generated the scene
normals	If true, loads mesh normals
vertex_colors	If true, loads mesh vertex colors
material_and_texture	If true, loads mesh materials and textures

Returns

A list of tesseract meshes

createMeshFromBytes()

template<typename T >

static std::vector< std::shared_ptr< T > > tesseract_geometry::createMeshFromBytes ( const std::string &  url, const uint8_t *  bytes, size_t  bytes_len, Eigen::Vector3d  scale = Eigen::Vector3d(1, 1, 1), bool  triangulate = false, bool  flatten = false, bool  normals = false, bool  vertex_colors = false, bool  material_and_texture = false  )

static

Create a mesh from byte array.

Parameters

url	The URL of source resource
bytes	Byte array
bytes_len	The length of bytes
scale	Perform an axis scaling
triangulate	If true the mesh will be triangulated. This should be done for visual meshes. In the case of collision meshes do not triangulate convex hull meshes.
flatten	If true all meshes will be condensed into a single mesh. This should only be used for visual meshes, do not flatten collision meshes.
normals	If true, loads mesh normals
vertex_colors	If true, loads mesh vertex colors
material_and_texture	If true, loads mesh materials and textures

Returns

createMeshFromPath()

template<class T >

std::vector< std::shared_ptr< T > > tesseract_geometry::createMeshFromPath	(	const std::string &	path,
		Eigen::Vector3d	scale = Eigen::Vector3d(1, 1, 1),
		bool	triangulate = false,
		bool	flatten = false,
		bool	normals = false,
		bool	vertex_colors = false,
		bool	material_and_texture = false
	)

Create a mesh using assimp from file path.

Parameters

path	The file path to the mesh
scale	Perform an axis scaling
triangulate	If true the mesh will be triangulated. This should be done for visual meshes. In the case of collision meshes do not triangulate convex hull meshes.
flatten	If true all meshes will be condensed into a single mesh. This should only be used for visual meshes, do not flatten collision meshes.
normals	If true, loads mesh normals
vertex_colors	If true, loads mesh vertex colors
material_and_texture	If true, loads mesh materials and textures

Returns

createMeshFromResource()

template<class T >

std::vector< std::shared_ptr< T > > tesseract_geometry::createMeshFromResource	(	tesseract_common::Resource::Ptr	resource,
		Eigen::Vector3d	scale = Eigen::Vector3d(1, 1, 1),
		bool	triangulate = false,
		bool	flatten = false,
		bool	normals = false,
		bool	vertex_colors = false,
		bool	material_and_texture = false
	)

Create a mesh using assimp from resource.

Parameters

resource	The located resource
scale	Perform an axis scaling
triangulate	If true the mesh will be triangulated. This should be done for visual meshes. In the case of collision meshes do not triangulate convex hull meshes.
flatten	If true all meshes will be condensed into a single mesh. This should only be used for visual meshes, do not flatten collision meshes.
normals	If true, loads mesh normals
vertex_colors	If true, loads mesh vertex colors
material_and_texture	If true, loads mesh materials and textures

Returns

extractMeshData()

template<class T >

std::vector< std::shared_ptr< T > > tesseract_geometry::extractMeshData	(	const aiScene *	scene,
		const aiNode *	node,
		const aiMatrix4x4 &	parent_transform,
		const Eigen::Vector3d &	scale,
		tesseract_common::Resource::Ptr	resource,
		bool	normals,
		bool	vertex_colors,
		bool	material_and_texture
	)

The template type must have a constructor as follows Constructor(std::shared_ptr<tesseract_geometry::VectorVector3d> vertices, std::shared_ptr<std::vector<int>> faces, int face_count)

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

Variable Documentation

GeometryTypeStrings

const std::vector<std::string> tesseract_geometry::GeometryTypeStrings

static

Initial value:

= { "UNINITIALIZED", "SPHERE",   "CYLINDER", "CAPSULE",
                                                              "CONE",          "BOX",      "PLANE",    "MESH",
                                                              "CONVEX_MESH",   "SDF_MESH", "OCTREE",   "POLYGON_MESH" }