QHull3D Class Reference

calculates the convex hull of a set of 3d points. More...

#include <QHull3D.hpp>

Inherits ConvexHull3D.

Public Types
typedef rw::core::Ptr< QHull3D >	Ptr
	smart pointer type of this class
Public Types inherited from ConvexHull3D
typedef rw::core::Ptr< ConvexHull3D >	Ptr
	smart pointer type of this class

Public Member Functions
	QHull3D ()
	constructor
virtual	~QHull3D ()
	destructor
void	rebuild (const std::vector< rw::math::Vector3D< double >> &vertices)
	rebuilts the hull More...
bool	isInside (const rw::math::Vector3D< double > &vertex)
	test if the given vertex is inside the convex hull More...
double	getMinDistOutside (const rw::math::Vector3D< double > &vertex)
	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...
double	getMinDistInside (const rw::math::Vector3D< double > &vertex)
	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...
rw::core::Ptr< rw::geometry::PlainTriMesh< rw::geometry::TriangleN1< double > > >	toTriMesh ()
	create a plain trimesh from the hull facets More...
const std::vector< rw::math::Vector3D< double > > &	getVertices () const
	Returns the vertices defining the convex hull.
const std::vector< rw::math::Vector3D< double > > &	getPlaneNormals () const
	Returns the normals of the planes defining the convex hull.
const std::vector< double > &	getPlaneOffsets () const
	Returns the offsets of the planes defining the convex hull.
Public Member Functions inherited from ConvexHull3D
virtual	~ConvexHull3D ()
	destructor

Detailed Description

calculates the convex hull of a set of 3d points.

The GiftWrap convex hull algorithm is used, hence the class name.

Note

It is important that there are not multiple vertices at the same coordinates. Filter these away before using this convex hull calculation.

Member Function Documentation

getMinDistInside()

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

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

Implements ConvexHull3D.

getMinDistOutside()

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

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

Implements ConvexHull3D.

isInside()

bool isInside ( const rw::math::Vector3D< double > &  vertex )

virtual

test if the given vertex is inside the convex hull

Implements ConvexHull3D.

rebuild()

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

virtual

rebuilts the hull

Parameters

vertices

Implements ConvexHull3D.

toTriMesh()

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

virtual

create a plain trimesh from the hull facets

Returns

the hull facets as a plain triangle mesh with normal information

Implements ConvexHull3D.

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

• QHull3D.hpp