#include <polygon_mesh.h>

Inheritance diagram for tesseract_geometry::PolygonMesh:

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Collaboration diagram for tesseract_geometry::PolygonMesh:

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Public Types
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
	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)

Private Attributes
std::shared_ptr< const tesseract_common::VectorVector3d >	vertices_

std::shared_ptr< const Eigen::VectorXi >	faces_

int	vertex_count_ { 0 }

int	face_count_ { 0 }

tesseract_common::Resource::ConstPtr	resource_

Eigen::Vector3d	scale_

std::shared_ptr< const tesseract_common::VectorVector3d >	normals_

std::shared_ptr< const tesseract_common::VectorVector4d >	vertex_colors_

MeshMaterial::Ptr	mesh_material_

std::shared_ptr< const std::vector< MeshTexture::Ptr > >	mesh_textures_

Friends
class	boost::serialization::access

Member Typedef Documentation

◆ ConstPtr

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

◆ Ptr

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

Constructor & Destructor Documentation

◆ PolygonMesh() [1/3]

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`
	)

inline

Polygon Mesh geometry.

Parameters

vertices	A vector of vertices associated with the mesh
faces	A vector of face indices, where the first number 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)

◆ PolygonMesh() [2/3]

tesseract_geometry::PolygonMesh::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`
	)

inline

Polygon Mesh geometry.

Parameters

vertices	A vector of vertices associated with the mesh
faces	A vector of face indices, where the first number 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.
face_count	Provide the number of faces. This is faster because it does not need to loop over the faces.
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	Describes the color and material properties of the mesh (optional)
mesh_textures	A vector of MeshTexture to apply to the mesh (optional)

◆ PolygonMesh() [3/3]

tesseract_geometry::PolygonMesh::PolygonMesh ( )

default

◆ ~PolygonMesh()

tesseract_geometry::PolygonMesh::~PolygonMesh ( )

overridedefault

Member Function Documentation

◆ clone()

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

inlineoverridevirtual

Create a copy of this shape.

Implements tesseract_geometry::Geometry.

Reimplemented in tesseract_geometry::SDFMesh.

◆ getFaceCount()

int tesseract_geometry::PolygonMesh::getFaceCount ( ) const

inline

Get face count.

Returns: Number of faces

◆ getFaces()

const std::shared_ptr< const Eigen::VectorXi > & tesseract_geometry::PolygonMesh::getFaces ( ) const

inline

Get Polygon mesh faces.

Returns: A vector of face indices

◆ getMaterial()

MeshMaterial::ConstPtr tesseract_geometry::PolygonMesh::getMaterial ( ) const

inline

Get material data extracted from the mesh file.

Mesh files contain material information. The mesh parser will extract the material information and store it in a MeshMaterial structure.

Returns: The MeshMaterial data extracted from mesh file

◆ getNormals()

const std::shared_ptr< const tesseract_common::VectorVector3d > & tesseract_geometry::PolygonMesh::getNormals ( ) const

inline

Get the vertex normal vectors.

Optional, may be nullptr

Returns: The vertex normal vector

◆ getResource()

tesseract_common::Resource::ConstPtr tesseract_geometry::PolygonMesh::getResource ( ) const

inline

Get the path to file used to generate the mesh.

Note: If empty, assume it was manually generated.

Returns: Absolute path to the mesh file

◆ getScale()

const Eigen::Vector3d & tesseract_geometry::PolygonMesh::getScale ( ) const

inline

Get the scale applied to file used to generate the mesh.

Returns: The scale x, y, z

◆ getTextures()

const std::shared_ptr< const std::vector< MeshTexture::Ptr > > & tesseract_geometry::PolygonMesh::getTextures ( ) const

inline

Get textures extracted from the mesh file.

Mesh files contain (or reference) image files that form textures on the surface of the mesh. UV coordinates specify how the image is applied to the mesh. The MeshTexture structure contains a resource to the image, and the UV coordinates. Currently only jpg and png image formats are supported.

Returns: Vector of mesh textures

◆ getVertexColors()

const std::shared_ptr< const tesseract_common::VectorVector4d > & tesseract_geometry::PolygonMesh::getVertexColors ( ) const

inline

Get the vertex colors.

Optional, may be nullptr

Returns: Vertex colors

◆ getVertexCount()

int tesseract_geometry::PolygonMesh::getVertexCount ( ) const

inline

Get vertex count.

Returns: Number of vertices

◆ getVertices()

const std::shared_ptr< const tesseract_common::VectorVector3d > & tesseract_geometry::PolygonMesh::getVertices ( ) const

inline

Get Polygon mesh vertices.

Returns: A vector of vertices

◆ operator!=()

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

◆ operator==()

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

Todo:: Finish PolygonMesh == operator

◆ serialize()

template<class Archive >

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

private

Todo:: Serialize mesh materials and textures

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Member Data Documentation

◆ face_count_

int tesseract_geometry::PolygonMesh::face_count_ { 0 }

private

◆ faces_

std::shared_ptr<const Eigen::VectorXi> tesseract_geometry::PolygonMesh::faces_

private

◆ mesh_material_

MeshMaterial::Ptr tesseract_geometry::PolygonMesh::mesh_material_

private

◆ mesh_textures_

std::shared_ptr<const std::vector<MeshTexture::Ptr> > tesseract_geometry::PolygonMesh::mesh_textures_

private

◆ normals_

std::shared_ptr<const tesseract_common::VectorVector3d> tesseract_geometry::PolygonMesh::normals_

private

◆ resource_

tesseract_common::Resource::ConstPtr tesseract_geometry::PolygonMesh::resource_

private

◆ scale_

Eigen::Vector3d tesseract_geometry::PolygonMesh::scale_

private

◆ vertex_colors_

std::shared_ptr<const tesseract_common::VectorVector4d> tesseract_geometry::PolygonMesh::vertex_colors_

private

◆ vertex_count_

int tesseract_geometry::PolygonMesh::vertex_count_ { 0 }

private

◆ vertices_

std::shared_ptr<const tesseract_common::VectorVector3d> tesseract_geometry::PolygonMesh::vertices_

private

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

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ PolygonMesh() [1/3]

◆ PolygonMesh() [2/3]

◆ PolygonMesh() [3/3]

◆ ~PolygonMesh()

Member Function Documentation

◆ clone()

◆ getFaceCount()

◆ getFaces()

◆ getMaterial()

◆ getNormals()

◆ getResource()

◆ getScale()

◆ getTextures()

◆ getVertexColors()

◆ getVertexCount()

◆ getVertices()

◆ operator!=()

◆ operator==()

◆ serialize()

Friends And Related Function Documentation

◆ boost::serialization::access

Member Data Documentation

◆ face_count_

◆ faces_

◆ mesh_material_

◆ mesh_textures_

◆ normals_

◆ resource_

◆ scale_

◆ vertex_colors_

◆ vertex_count_

◆ vertices_