tesseract_geometry::SDFMesh Class Reference

#include <sdf_mesh.h>

Inheritance diagram for tesseract_geometry::SDFMesh:

Collaboration diagram for tesseract_geometry::SDFMesh:

Public Types
using	Ptr = std::shared_ptr< SDFMesh >
using	ConstPtr = std::shared_ptr< const SDFMesh >
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
	SDFMesh (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)
	SDF Mesh geometry. More...
	SDFMesh (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)
	SDF Mesh geometry. More...
	SDFMesh ()=default
	~SDFMesh () override=default
Geometry::Ptr	clone () const override
	Create a copy of this shape. More...
bool	operator== (const SDFMesh &rhs) const
bool	operator!= (const SDFMesh &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::SDFMesh::ConstPtr = std::shared_ptr<const SDFMesh>

Ptr

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

Constructor & Destructor Documentation

SDFMesh() [1/3]

tesseract_geometry::SDFMesh::SDFMesh ( 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

SDF 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 vertices 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)

SDFMesh() [2/3]

tesseract_geometry::SDFMesh::SDFMesh ( 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

SDF 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 vertices 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)

SDFMesh() [3/3]

tesseract_geometry::SDFMesh::SDFMesh ( )

default

~SDFMesh()

tesseract_geometry::SDFMesh::~SDFMesh ( )

overridedefault

Member Function Documentation

clone()

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

inlineoverridevirtual

Create a copy of this shape.

Reimplemented from tesseract_geometry::PolygonMesh.

operator!=()

bool tesseract_geometry::SDFMesh::operator!=

(

const SDFMesh &

rhs

)

const

operator==()

bool tesseract_geometry::SDFMesh::operator==

(

const SDFMesh &

rhs

)

const

serialize()

template<class Archive >

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

private

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

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

• tesseract_geometry/include/tesseract_geometry/impl/sdf_mesh.h
• tesseract_geometry/src/geometries/sdf_mesh.cpp