ConvexHull3D Class Reference

interface for convexhull calculators on 3d point sets More...

#include <ConvexHull3D.hpp>

Inherited by QHull3D.

Public Types
typedef rw::core::Ptr< ConvexHull3D >	Ptr
	smart pointer type of this class

Public Member Functions
virtual	~ConvexHull3D ()
	destructor
virtual void	rebuild (const std::vector< rw::math::Vector3D< double >> &vertices)=0
	rebuilts the hull More...
virtual bool	isInside (const rw::math::Vector3D< double > &vertex)=0
	test if the given vertex is inside the convex hull
virtual double	getMinDistInside (const rw::math::Vector3D< double > &vertex)=0
	If the vertex is inside the convex hull the minimum distance to any of the half-spaces of the hull is returned. If its not inside 0 is returned. More...
virtual double	getMinDistOutside (const rw::math::Vector3D< double > &vertex)=0
	If the vertex is outside the convex hull the minimum distance to the convex hull is returned. If its not outside 0 is returned. More...
virtual rw::core::Ptr< rw::geometry::PlainTriMesh< rw::geometry::TriangleN1< double > > >	toTriMesh ()=0
	create a plain trimesh from the hull facets More...

Detailed Description

interface for convexhull calculators on 3d point sets

Member Function Documentation

getMinDistInside()

virtual double getMinDistInside ( const rw::math::Vector3D< double > &  vertex )

pure virtual

If the vertex is inside the convex hull the minimum distance to any of the half-spaces of the hull is returned. If its not inside 0 is returned.

Parameters

vertex

Returns

minimum distance to vertex

Implemented in QHull3D.

getMinDistOutside()

virtual double getMinDistOutside ( const rw::math::Vector3D< double > &  vertex )

pure virtual

If the vertex is outside the convex hull the minimum distance to the convex hull is returned. If its not outside 0 is returned.

Parameters

vertex

Returns

minimum distance to vertex

Implemented in QHull3D.

rebuild()

virtual void rebuild ( const std::vector< rw::math::Vector3D< double >> &  vertices )

pure virtual

rebuilts the hull

Parameters

vertices

Implemented in QHull3D.

toTriMesh()

virtual rw::core::Ptr<rw::geometry::PlainTriMesh<rw::geometry::TriangleN1<double> > > toTriMesh ( )

pure virtual

create a plain trimesh from the hull facets

Returns

the hull facets as a plain triangle mesh with normal information

Implemented in QHull3D.

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

• ConvexHull3D.hpp