tesseract_collision::ConvexDecompositionHACD Class Reference

#include <convex_decomposition_hacd.h>

Inheritance diagram for tesseract_collision::ConvexDecompositionHACD:

Collaboration diagram for tesseract_collision::ConvexDecompositionHACD:

Public Types
using	Ptr = std::shared_ptr< ConvexDecompositionHACD >
using	ConstPtr = std::shared_ptr< const ConvexDecompositionHACD >
Public Types inherited from tesseract_collision::ConvexDecomposition
using	Ptr = std::shared_ptr< ConvexDecomposition >
using	ConstPtr = std::shared_ptr< const ConvexDecomposition >

Public Member Functions
	ConvexDecompositionHACD ()=default
	ConvexDecompositionHACD (const HACDParameters &params)
std::vector< tesseract_geometry::ConvexMesh::Ptr >	compute (const tesseract_common::VectorVector3d &vertices, const Eigen::VectorXi &faces) const override
	Run convex decomposition algorithm. More...
Public Member Functions inherited from tesseract_collision::ConvexDecomposition
	ConvexDecomposition ()=default
virtual	~ConvexDecomposition ()=default
	ConvexDecomposition (const ConvexDecomposition &)=default
ConvexDecomposition &	operator= (const ConvexDecomposition &)=default
	ConvexDecomposition (ConvexDecomposition &&)=default
ConvexDecomposition &	operator= (ConvexDecomposition &&)=default
virtual std::vector< tesseract_geometry::ConvexMesh::Ptr >	compute (const tesseract_common::VectorVector3d &vertices, const Eigen::VectorXi &faces) const =0
	Run convex decomposition algorithm. More...

Private Attributes
HACDParameters	params_

Member Typedef Documentation

ConstPtr

using tesseract_collision::ConvexDecompositionHACD::ConstPtr = std::shared_ptr<const ConvexDecompositionHACD>

Ptr

using tesseract_collision::ConvexDecompositionHACD::Ptr = std::shared_ptr<ConvexDecompositionHACD>

Constructor & Destructor Documentation

ConvexDecompositionHACD() [1/2]

tesseract_collision::ConvexDecompositionHACD::ConvexDecompositionHACD ( )

default

ConvexDecompositionHACD() [2/2]

tesseract_collision::ConvexDecompositionHACD::ConvexDecompositionHACD

(

const HACDParameters &

params

)

Member Function Documentation

compute()

std::vector< tesseract_geometry::ConvexMesh::Ptr > tesseract_collision::ConvexDecompositionHACD::compute ( const tesseract_common::VectorVector3d &  vertices, const Eigen::VectorXi &  faces  ) const

overridevirtual

Run convex decomposition algorithm.

Parameters

vertices	The vertices
faces	A vector of triangle indicies. Every face starts with the number of vertices followed the the vertice index

Returns

Implements tesseract_collision::ConvexDecomposition.

Member Data Documentation

params_

HACDParameters tesseract_collision::ConvexDecompositionHACD::params_

private

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

• tesseract_collision/bullet/include/tesseract_collision/bullet/convex_decomposition_hacd.h
• tesseract_collision/bullet/src/convex_decomposition_hacd.cpp