#include <mesh.h>

Inheritance diagram for tesseract_geometry::Mesh:

Collaboration diagram for tesseract_geometry::Mesh:

[legend]

Public Types
using	Ptr = std::shared_ptr< Mesh >

using	ConstPtr = std::shared_ptr< const Mesh >

Public Types inherited from tesseract_geometry::PolygonMesh
using	Ptr = std::shared_ptr< PolygonMesh >

using	ConstPtr = std::shared_ptr< const PolygonMesh >

Public Types inherited from tesseract_geometry::Geometry
using	Ptr = std::shared_ptr< Geometry >

using	ConstPtr = std::shared_ptr< const Geometry >

Public Member Functions
	Mesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > triangles, tesseract_common::Resource::Ptr resource=nullptr, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), std::shared_ptr< const tesseract_common::VectorVector3d > normals=nullptr, std::shared_ptr< const tesseract_common::VectorVector4d > vertex_colors=nullptr, MeshMaterial::Ptr mesh_material=nullptr, std::shared_ptr< const std::vector< MeshTexture::Ptr > > mesh_textures=nullptr)
	Mesh geometry. More...

	Mesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > triangles, int triangle_count, tesseract_common::Resource::ConstPtr resource=nullptr, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), std::shared_ptr< const tesseract_common::VectorVector3d > normals=nullptr, std::shared_ptr< const tesseract_common::VectorVector4d > vertex_colors=nullptr, MeshMaterial::Ptr mesh_material=nullptr, std::shared_ptr< const std::vector< MeshTexture::Ptr > > mesh_textures=nullptr)
	Mesh geometry. More...

	Mesh ()=default

	~Mesh () override=default

Geometry::Ptr	clone () const override
	Create a copy of this shape. More...

bool	operator== (const Mesh &rhs) const

bool	operator!= (const Mesh &rhs) const

Public Member Functions inherited from tesseract_geometry::PolygonMesh
	PolygonMesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > faces, tesseract_common::Resource::ConstPtr resource=nullptr, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), std::shared_ptr< const tesseract_common::VectorVector3d > normals=nullptr, std::shared_ptr< const tesseract_common::VectorVector4d > vertex_colors=nullptr, MeshMaterial::Ptr mesh_material=nullptr, std::shared_ptr< const std::vector< MeshTexture::Ptr > > mesh_textures=nullptr, GeometryType type=GeometryType::CONVEX_MESH)
	Polygon Mesh geometry. More...

	PolygonMesh (std::shared_ptr< const tesseract_common::VectorVector3d > vertices, std::shared_ptr< const Eigen::VectorXi > faces, int face_count, tesseract_common::Resource::ConstPtr resource=nullptr, const Eigen::Vector3d &scale=Eigen::Vector3d(1, 1, 1), std::shared_ptr< const tesseract_common::VectorVector3d > normals=nullptr, std::shared_ptr< const tesseract_common::VectorVector4d > vertex_colors=nullptr, MeshMaterial::Ptr mesh_material=nullptr, std::shared_ptr< const std::vector< MeshTexture::Ptr > > mesh_textures=nullptr, GeometryType type=GeometryType::CONVEX_MESH)
	Polygon Mesh geometry. More...

	PolygonMesh ()=default

	~PolygonMesh () override=default

const std::shared_ptr< const tesseract_common::VectorVector3d > &	getVertices () const
	Get Polygon mesh vertices. More...

const std::shared_ptr< const Eigen::VectorXi > &	getFaces () const
	Get Polygon mesh faces. More...

int	getVertexCount () const
	Get vertex count. More...

int	getFaceCount () const
	Get face count. More...

tesseract_common::Resource::ConstPtr	getResource () const
	Get the path to file used to generate the mesh. More...

const Eigen::Vector3d &	getScale () const
	Get the scale applied to file used to generate the mesh. More...

const std::shared_ptr< const tesseract_common::VectorVector3d > &	getNormals () const
	Get the vertex normal vectors. More...

const std::shared_ptr< const tesseract_common::VectorVector4d > &	getVertexColors () const
	Get the vertex colors. More...

MeshMaterial::ConstPtr	getMaterial () const
	Get material data extracted from the mesh file. More...

const std::shared_ptr< const std::vector< MeshTexture::Ptr > > &	getTextures () const
	Get textures extracted from the mesh file. More...

Geometry::Ptr	clone () const override
	Create a copy of this shape. More...

bool	operator== (const PolygonMesh &rhs) const

bool	operator!= (const PolygonMesh &rhs) const

Public Member Functions inherited from tesseract_geometry::Geometry
	Geometry (GeometryType type=GeometryType::UNINITIALIZED)

virtual	~Geometry ()=default

	Geometry (const Geometry &)=default

Geometry &	operator= (const Geometry &)=default

	Geometry (Geometry &&)=default

Geometry &	operator= (Geometry &&)=default

virtual Geometry::Ptr	clone () const =0
	Create a copy of this shape. More...

GeometryType	getType () const

bool	operator== (const Geometry &rhs) const

bool	operator!= (const Geometry &rhs) const

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Friends
class	boost::serialization::access

Member Typedef Documentation

◆ ConstPtr

using tesseract_geometry::Mesh::ConstPtr = std::shared_ptr<const Mesh>

◆ Ptr

using tesseract_geometry::Mesh::Ptr = std::shared_ptr<Mesh>

Constructor & Destructor Documentation

◆ Mesh() [1/3]

tesseract_geometry::Mesh::Mesh	(	std::shared_ptr< const tesseract_common::VectorVector3d >	vertices,
		std::shared_ptr< const Eigen::VectorXi >	triangles,
		tesseract_common::Resource::Ptr	resource = `nullptr`,
		const Eigen::Vector3d &	scale = `Eigen::Vector3d(1, 1, 1)`,
		std::shared_ptr< const tesseract_common::VectorVector3d >	normals = `nullptr`,
		std::shared_ptr< const tesseract_common::VectorVector4d >	vertex_colors = `nullptr`,
		MeshMaterial::Ptr	mesh_material = `nullptr`,
		std::shared_ptr< const std::vector< MeshTexture::Ptr > >	mesh_textures = `nullptr`
	)

inline

Mesh geometry.

Parameters

vertices	A vector of vertices associated with the mesh
triangles	A vector of face indices where the first index indicates the number of vertices associated with the face followed by the vertex index in parameter vertices. For example a triangle has three vertices so there should be four inputs where the first should be 3 indicating there are three vertices that define this face followed by three indices.
resource	A resource locator for locating resource
scale	Scale the mesh
normals	A vector of normals for the vertices (optional)
vertex_colors	A vector of colors (RGBA) for the vertices (optional)
mesh_material	A MeshMaterial describing the color and material properties of the mesh (optional)
mesh_textures	A vector of MeshTexture to apply to the mesh (optional)

◆ Mesh() [2/3]

tesseract_geometry::Mesh::Mesh	(	std::shared_ptr< const tesseract_common::VectorVector3d >	vertices,
		std::shared_ptr< const Eigen::VectorXi >	triangles,
		int	triangle_count,
		tesseract_common::Resource::ConstPtr	resource = `nullptr`,
		const Eigen::Vector3d &	scale = `Eigen::Vector3d(1, 1, 1)`,
		std::shared_ptr< const tesseract_common::VectorVector3d >	normals = `nullptr`,
		std::shared_ptr< const tesseract_common::VectorVector4d >	vertex_colors = `nullptr`,
		MeshMaterial::Ptr	mesh_material = `nullptr`,
		std::shared_ptr< const std::vector< MeshTexture::Ptr > >	mesh_textures = `nullptr`
	)

inline

Mesh geometry.

Parameters

vertices	A vector of vertices associated with the mesh
triangles	A vector of face indices where the first index indicates the number of vertices associated with the face followed by the vertex index in parameter vertices. For example a triangle has three vertices so there should be four inputs where the first should be 3 indicating there are three vertices that define this face followed by three indices.
triangle_count	Provide the number of faces. This is faster because it does not need to loop over triangles.
resource	A resource locator for locating resource
scale	Scale the mesh
normals	A vector of normals for the vertices (optional)
vertex_colors	A vector of colors (RGBA) for the vertices (optional)
mesh_material	A MeshMaterial describing the color and material properties of the mesh (optional)
mesh_textures	A vector of MeshTexture to apply to the mesh (optional)

◆ Mesh() [3/3]

tesseract_geometry::Mesh::Mesh ( )

default

◆ ~Mesh()

tesseract_geometry::Mesh::~Mesh ( )

overridedefault

Member Function Documentation

◆ clone()

Geometry::Ptr tesseract_geometry::Mesh::clone ( ) const

inlineoverridevirtual

Create a copy of this shape.

Implements tesseract_geometry::Geometry.

◆ operator!=()

bool tesseract_geometry::Mesh::operator!= ( const Mesh & rhs ) const

◆ operator==()

bool tesseract_geometry::Mesh::operator== ( const Mesh & rhs ) const

◆ serialize()

template<class Archive >

void tesseract_geometry::Mesh::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

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

tesseract_geometry/include/tesseract_geometry/impl/mesh.h
tesseract_geometry/src/geometries/mesh.cpp

Public Types

Public Member Functions

Private Member Functions

Friends