tesseract_collision::VHACD::VoxelSet Class Reference

#include <vhacdVolume.h>

Inheritance diagram for tesseract_collision::VHACD::VoxelSet:

Collaboration diagram for tesseract_collision::VHACD::VoxelSet:

Public Member Functions
	~VoxelSet ()=default
	Destructor. More...
	VoxelSet ()
	Constructor. More...
size_t	GetNPrimitives () const override
size_t	GetNPrimitivesOnSurf () const override
size_t	GetNPrimitivesInsideSurf () const override
double	GetEigenValue (AXIS axis) const override
double	ComputeVolume () const override
double	ComputeMaxVolumeError () const override
const Vec3< short > &	GetMinBBVoxels () const
const Vec3< short > &	GetMaxBBVoxels () const
const Vec3< double > &	GetMinBB () const
const double &	GetScale () const
const double &	GetUnitVolume () const
Vec3< double >	GetPoint (Vec3< short > voxel) const
Vec3< double >	GetPoint (const Voxel &voxel) const
Vec3< double >	GetPoint (Vec3< double > voxel) const
void	GetPoints (const Voxel &voxel, Vec3< double > *const pts) const
void	ComputeConvexHull (Mesh &meshCH, const size_t sampling=1) const override
void	Clip (const Plane &plane, PrimitiveSet *const positivePart, PrimitiveSet *const negativePart) const override
void	Intersect (const Plane &plane, SArray< Vec3< double > > *const positivePts, SArray< Vec3< double > > *const negativePts, const size_t sampling) const override
void	ComputeExteriorPoints (const Plane &plane, const Mesh &mesh, SArray< Vec3< double > > *const exteriorPts) const override
void	ComputeClippedVolumes (const Plane &plane, double &positiveVolume, double &negativeVolume) const override
void	SelectOnSurface (PrimitiveSet *const onSurfP) const override
void	ComputeBB () override
void	Convert (Mesh &mesh, const VOXEL_VALUE value) const override
void	ComputePrincipalAxes () override
PrimitiveSet *	Create () const override
void	AlignToPrincipalAxes () override
void	RevertAlignToPrincipalAxes () override
Voxel *	GetVoxels ()
const Voxel *	GetVoxels () const
Public Member Functions inherited from tesseract_collision::VHACD::PrimitiveSet
virtual	~PrimitiveSet ()
virtual PrimitiveSet *	Create () const =0
virtual size_t	GetNPrimitives () const =0
virtual size_t	GetNPrimitivesOnSurf () const =0
virtual size_t	GetNPrimitivesInsideSurf () const =0
virtual double	GetEigenValue (AXIS axis) const =0
virtual double	ComputeMaxVolumeError () const =0
virtual double	ComputeVolume () const =0
virtual void	Clip (const Plane &plane, PrimitiveSet *const positivePart, PrimitiveSet *const negativePart) const =0
virtual void	Intersect (const Plane &plane, SArray< Vec3< double > > *const positivePts, SArray< Vec3< double > > *const negativePts, const size_t sampling) const =0
virtual void	ComputeExteriorPoints (const Plane &plane, const Mesh &mesh, SArray< Vec3< double > > *const exteriorPts) const =0
virtual void	ComputeClippedVolumes (const Plane &plane, double &positiveVolume, double &negativeVolume) const =0
virtual void	SelectOnSurface (PrimitiveSet *const onSurfP) const =0
virtual void	ComputeConvexHull (Mesh &meshCH, const size_t sampling=1) const =0
virtual void	ComputeBB ()=0
virtual void	ComputePrincipalAxes ()=0
virtual void	AlignToPrincipalAxes ()=0
virtual void	RevertAlignToPrincipalAxes ()=0
virtual void	Convert (Mesh &mesh, const VOXEL_VALUE value) const =0
const Mesh &	GetConvexHull () const
Mesh &	GetConvexHull ()

Private Attributes
size_t	m_numVoxelsOnSurface
size_t	m_numVoxelsInsideSurface
Vec3< double >	m_minBB
double	m_scale
SArray< Voxel, 8 >	m_voxels
double	m_unitVolume
Vec3< double >	m_minBBPts
Vec3< double >	m_maxBBPts
Vec3< short >	m_minBBVoxels
Vec3< short >	m_maxBBVoxels
Vec3< short >	m_barycenter
double	m_Q [3][3]
double	m_D [3][3]
Vec3< double >	m_barycenterPCA

Friends
class	Volume

Constructor & Destructor Documentation

~VoxelSet()

tesseract_collision::VHACD::VoxelSet::~VoxelSet ( )

default

Destructor.

VoxelSet()

tesseract_collision::VHACD::VoxelSet::VoxelSet

(

)

Constructor.

Member Function Documentation

AlignToPrincipalAxes()

void tesseract_collision::VHACD::VoxelSet::AlignToPrincipalAxes ( )

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

Clip()

void tesseract_collision::VHACD::VoxelSet::Clip ( const Plane &  plane, PrimitiveSet *const  positivePart, PrimitiveSet *const  negativePart  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeBB()

void tesseract_collision::VHACD::VoxelSet::ComputeBB ( )

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeClippedVolumes()

void tesseract_collision::VHACD::VoxelSet::ComputeClippedVolumes ( const Plane &  plane, double &  positiveVolume, double &  negativeVolume  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeConvexHull()

void tesseract_collision::VHACD::VoxelSet::ComputeConvexHull ( Mesh &  meshCH, const size_t  sampling = 1  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeExteriorPoints()

void tesseract_collision::VHACD::VoxelSet::ComputeExteriorPoints ( const Plane &  plane, const Mesh &  mesh, SArray< Vec3< double > > *const  exteriorPts  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeMaxVolumeError()

double tesseract_collision::VHACD::VoxelSet::ComputeMaxVolumeError ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputePrincipalAxes()

void tesseract_collision::VHACD::VoxelSet::ComputePrincipalAxes ( )

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeVolume()

double tesseract_collision::VHACD::VoxelSet::ComputeVolume ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

Convert()

void tesseract_collision::VHACD::VoxelSet::Convert ( Mesh &  mesh, const VOXEL_VALUE  value  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

Create()

PrimitiveSet * tesseract_collision::VHACD::VoxelSet::Create ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetEigenValue()

double tesseract_collision::VHACD::VoxelSet::GetEigenValue ( AXIS  axis ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetMaxBBVoxels()

const Vec3< short > & tesseract_collision::VHACD::VoxelSet::GetMaxBBVoxels ( ) const

inline

GetMinBB()

const Vec3< double > & tesseract_collision::VHACD::VoxelSet::GetMinBB ( ) const

inline

GetMinBBVoxels()

const Vec3< short > & tesseract_collision::VHACD::VoxelSet::GetMinBBVoxels ( ) const

inline

GetNPrimitives()

size_t tesseract_collision::VHACD::VoxelSet::GetNPrimitives ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetNPrimitivesInsideSurf()

size_t tesseract_collision::VHACD::VoxelSet::GetNPrimitivesInsideSurf ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetNPrimitivesOnSurf()

size_t tesseract_collision::VHACD::VoxelSet::GetNPrimitivesOnSurf ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetPoint() [1/3]

Vec3< double > tesseract_collision::VHACD::VoxelSet::GetPoint ( const Voxel &  voxel ) const

inline

GetPoint() [2/3]

Vec3< double > tesseract_collision::VHACD::VoxelSet::GetPoint ( Vec3< double >  voxel ) const

inline

GetPoint() [3/3]

Vec3< double > tesseract_collision::VHACD::VoxelSet::GetPoint ( Vec3< short >  voxel ) const

inline

GetPoints()

void tesseract_collision::VHACD::VoxelSet::GetPoints	(	const Voxel &	voxel,
		Vec3< double > *const	pts
	)		const

GetScale()

const double & tesseract_collision::VHACD::VoxelSet::GetScale ( ) const

inline

GetUnitVolume()

const double & tesseract_collision::VHACD::VoxelSet::GetUnitVolume ( ) const

inline

GetVoxels() [1/2]

Voxel * tesseract_collision::VHACD::VoxelSet::GetVoxels ( )

inline

GetVoxels() [2/2]

const Voxel * tesseract_collision::VHACD::VoxelSet::GetVoxels ( ) const

inline

Intersect()

void tesseract_collision::VHACD::VoxelSet::Intersect ( const Plane &  plane, SArray< Vec3< double > > *const  positivePts, SArray< Vec3< double > > *const  negativePts, const size_t  sampling  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

RevertAlignToPrincipalAxes()

void tesseract_collision::VHACD::VoxelSet::RevertAlignToPrincipalAxes ( )

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

SelectOnSurface()

void tesseract_collision::VHACD::VoxelSet::SelectOnSurface ( PrimitiveSet *const  onSurfP ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

Friends And Related Function Documentation

Volume

friend class Volume

friend

Member Data Documentation

m_barycenter

Vec3<short> tesseract_collision::VHACD::VoxelSet::m_barycenter

private

m_barycenterPCA

Vec3<double> tesseract_collision::VHACD::VoxelSet::m_barycenterPCA

private

m_D

double tesseract_collision::VHACD::VoxelSet::m_D[3][3]

private

m_maxBBPts

Vec3<double> tesseract_collision::VHACD::VoxelSet::m_maxBBPts

private

m_maxBBVoxels

Vec3<short> tesseract_collision::VHACD::VoxelSet::m_maxBBVoxels

private

m_minBB

Vec3<double> tesseract_collision::VHACD::VoxelSet::m_minBB

private

m_minBBPts

Vec3<double> tesseract_collision::VHACD::VoxelSet::m_minBBPts

private

m_minBBVoxels

Vec3<short> tesseract_collision::VHACD::VoxelSet::m_minBBVoxels

private

m_numVoxelsInsideSurface

size_t tesseract_collision::VHACD::VoxelSet::m_numVoxelsInsideSurface

private

m_numVoxelsOnSurface

size_t tesseract_collision::VHACD::VoxelSet::m_numVoxelsOnSurface

private

m_Q

double tesseract_collision::VHACD::VoxelSet::m_Q[3][3]

private

m_scale

double tesseract_collision::VHACD::VoxelSet::m_scale

private

m_unitVolume

double tesseract_collision::VHACD::VoxelSet::m_unitVolume

private

m_voxels

SArray<Voxel, 8> tesseract_collision::VHACD::VoxelSet::m_voxels

private

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

• tesseract_collision/vhacd/include/tesseract_collision/vhacd/inc/vhacdVolume.h
• tesseract_collision/vhacd/src/vhacd/vhacdVolume.cpp