RobWorkProject  24.5.15-
ConvexHullND< N > Class Template Referenceabstract

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

#include <ConvexHullND.hpp>

Inherited by QHullND< N >.

## Public Types

typedef rw::core::Ptr< ConvexHullND< N > > Ptr
smart pointer type of this class

## Public Member Functions

virtual void rebuild (const std::vector< rw::math::VectorND< N >> &vertices)=0
rebuilts the hull More...

virtual bool isInside (const rw::math::VectorND< N > &vertex)=0
test if the given vertex is inside the convex hull

virtual double getMinDistInside (const rw::math::VectorND< N > &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 getAvgDistInside (const rw::math::VectorND< N > &vertex)=0
Calculate average distance from point inside the convex hull to its walls. More...

virtual double getMinDistOutside (const rw::math::VectorND< N > &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::math::VectorND< N > getCentroid ()=0
Return centroid of the convex hull. More...

virtual rw::math::VectorND< N > getClosestPoint (const rw::math::VectorND< N > &vertex)=0
Returns the point on the convex hull closest to the vertex . More...

## Detailed Description

### template<size_t N> class rw::geometry::ConvexHullND< N >

interface for convexhull calculators on 3d point sets

## ◆ getAvgDistInside()

 virtual double getAvgDistInside ( const rw::math::VectorND< N > & vertex )
pure virtual

Calculate average distance from point inside the convex hull to its walls.

Each distance is weighted according to the wall's volume.'

Implemented in QHullND< N >.

## ◆ getCentroid()

 virtual rw::math::VectorND getCentroid ( )
pure virtual

Return centroid of the convex hull.

Centroid is calculated as an average of face centroids weighted by face area.

Implemented in QHullND< N >.

## ◆ getClosestPoint()

 virtual rw::math::VectorND getClosestPoint ( const rw::math::VectorND< N > & vertex )
pure virtual

Returns the point on the convex hull closest to the vertex .

Parameters
 vertex [in] the vertex.
Returns
the closest point.

Implemented in QHullND< N >.

## ◆ getMinDistInside()

 virtual double getMinDistInside ( const rw::math::VectorND< N > & 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 QHullND< N >.

## ◆ getMinDistOutside()

 virtual double getMinDistOutside ( const rw::math::VectorND< N > & 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 QHullND< N >.

## ◆ rebuild()

 virtual void rebuild ( const std::vector< rw::math::VectorND< N >> & vertices )
pure virtual

rebuilts the hull

Parameters
 vertices

Implemented in QHullND< N >.

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