RobWorkProject: QuadraticBREP Class Reference

A boundary representation where the geometry of a face is a QuadraticSurface, and an edge curve is a QuadraticCurve. More...

#include <QuadraticBREP.hpp>

Inherits BREP.

Classes
class	CommonQuadraticCurveSet
	Convenience type for a set of curves in a QuadraticBREP. More...

Public Types
typedef rw::core::Ptr< QuadraticBREP >	Ptr
	Smart pointer type to QuadraticBREP.

Public Types inherited from BREP
typedef rw::core::Ptr< BREP >	Ptr
	Smart pointer type to BREP.

typedef rw::core::Ptr< const BREP >	CPtr
	Smart pointer type to const BREP.

Public Types inherited from GeometryData
enum	GeometryType { PointCloud , LineMesh , PlainTriMesh , IdxTriMesh , SpherePrim , BoxPrim , OBBPrim , AABBPrim , LinePrim , PointPrim , PyramidPrim , ConePrim , TrianglePrim , CylinderPrim , TubePrim , PlanePrim , RayPrim , Implicit , Quadratic , UserType }
	geometry data types

typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class

Public Member Functions
	QuadraticBREP ()
	Constructor.

virtual	~QuadraticBREP ()
	Destructor.

virtual GeometryType	getType () const
	the type of this primitive More...

virtual const rw::geometry::QuadraticSurface &	getSurface (std::size_t surfaceIndex) const
	Get surface. More...

virtual const rw::geometry::QuadraticCurve &	getCurve (std::size_t curveIndex) const
	Get curve. More...

virtual void	scale (double factor)
	Scale the object. More...

QuadraticBREP::Ptr	clone () const
	Make a deep copy of the BREP. More...

rw::core::Ptr< const QuadraticShell >	shellProxy () const
	Get a Shell representation as a proxy to the BREP. More...

rw::core::Ptr< PlainQuadraticShell >	shell () const
	Get a QuadraticShell representation by copying geometric information to a concrete PlainQuadraticShell object. More...

std::vector< rw::core::Ptr< rw::geometry::QuadraticCurve > >	getCurves (std::size_t loopIdx) const
	Get the curves in a given loop. More...

CommonQuadraticCurveSet::CPtr	getCommonCurves (const std::set< std::size_t > &faces) const
	Get a set of common curves between a set of faces. More...

void	addEdge (const rw::geometry::QuadraticCurve &curve, std::size_t v1, std::size_t v2)
	Add a QuadraticCurve to the BREP. More...

void	setFace (const rw::geometry::QuadraticSurface &surface, std::size_t loop)
	Attach a QuadraticSurface to a face of the BREP. More...

Public Member Functions inherited from BREP
virtual	~BREP ()
	Destructor.

virtual rw::core::Ptr< TriMesh >	getTriMesh (bool forceCopy=true)
	Create a TriMesh representation from this boundary representation. More...

virtual bool	isConvex ()
	test if this geometry data is convex More...

virtual bool	isConvex () const
	test if this geometry data is convex More...

BREP::Ptr	clone () const
	Make a deep copy of the BREP. More...

rw::core::Ptr< const rw::geometry::Shell >	shellProxy () const
	Get a Shell representation as a proxy to the BREP. More...

std::vector< rw::core::Ptr< rw::geometry::Curve > >	getCurves (std::size_t loopIdx) const
	Get the curves in a given loop. More...

CommonCurveSet::CPtr	getCommonCurves (const std::set< std::size_t > &faces) const
	Get a set of common curves between a set of faces. More...

std::size_t	faceCount () const
	The number of faces. More...

std::size_t	loopCount () const
	The number of loops. More...

std::size_t	edgeCount () const
	The number of edges. More...

std::size_t	verticeCount () const
	The number of vertices. More...

const rw::math::Vector3D< double > &	getVertex (std::size_t vertexIndex) const
	Get vertex. More...

std::vector< rw::math::Vector3D< double > >	getVertices (std::size_t loopIdx) const
	Get the vertices in a given loop. More...

bool	hasSurfaceSet (std::size_t loop)
	Check if a certain loop has a surface set. More...

std::size_t	getSurfaceIndex (std::size_t loop)
	Get the surface index of a loop. More...

rw::geometry::OBB	obb (const rw::math::Rotation3D<> &R)
	Create Oriented Bounding Box with certain principal directions. More...

rw::geometry::OBB	obb ()
	Create Oriented Bounding Box where the directions are estimated. More...

void	addVertex (const rw::math::Vector3D< double > &point)
	Add a vertex to the BREP. More...

void	makeLoop (int singleEdgeId)
	Create a loop containing a single edge (typically for circles and ellipses and similar). More...

template<typename T >
int	makeLoop (T first, T second)
	Create a loop containing two edges. More...

template<typename T , typename... Args>
int	makeLoop (T first, Args... args)
	Create a loop with a variable number of edges. More...

void	stitchEdges (std::size_t first, std::size_t second)
	Connect two half-edges. More...

void	stitchAuto (double eps)
	Try to stitch edges automatically. More...

rw::geometry::OBB	faceOBB (std::size_t faceIndex)
	Create Oriented Bounding Box for a face. More...

rw::geometry::OBB	edgeOBR (std::size_t edge) const
	Create Oriented Bounding Rectangle for an edge. More...

std::pair< double, double >	faceExtremums (std::size_t faceIndex, const rw::math::Vector3D< double > &dir) const
	Find the extent of the surface along a specific direction. More...

rw::core::Ptr< rw::geometry::TriMesh >	faceTriMesh (std::size_t faceIndex)
	Construct a Triangle Mesh for a face. More...

void	setMeshResolution (double resolution=10)
	Set the resolution used for discretization in the getTriMesh and faceTriMesh functions. More...

virtual void	print ()
	Print the structure of the BREP for debugging purposes.

Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Additional Inherited Members
Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Protected Member Functions inherited from BREP
	BREP ()
	Constructor.

void	copyTopologyTo (BREP::Ptr brep) const
	Copy the topology of this BREP to another brep. More...

void	addBREPEdge (std::size_t curveIndex, std::size_t vertex1, std::size_t vertex2)
	Add a edge (will insert a pair of half-edges). More...

void	setBREPFace (std::size_t surfaceIndex, std::size_t loop)
	Attach a surface to a loop. More...

Protected Attributes inherited from BREP
std::vector< Vertex * >	_vertices
	The vertices in the BREP.

std::vector< std::pair< HalfEdge , HalfEdge > >	_edges
	The half-edges in the BREP.

std::vector< Face * >	_faces
	The faces in the BREP. A face is added for each loop constructed.

double	_resolution
	Resolution used for discretization functions.

Detailed Description

A boundary representation where the geometry of a face is a QuadraticSurface, and an edge curve is a QuadraticCurve.

This implementation adds the geometry related to Quadrics, based on BREP which handles the topology.

To build a geometry composed of Quadratic surfaces and curves, follow the following procedure:

Add all the needed vertices by using the addVertex function. Each vertex is given an index starting, increasing from zero.
Add the edges with the addEdge function. An edge is added between two vertices using their vertex indexes. The edge requires a QuadraticCurve and two vertex indicies. Notice that the curve must have limits, such that it start in the first vertex and ends in the second vertex (the curve has a direction). Each edge is given an index, increasing from zero.
Use the makeLoop function to form loops, based on the edges just added. The makeLoop takes an arbitrary number of edge indexes. Notice that makeLoop expects the edge indexing to start at 1, and supports negative indices to indicate direction of the edge. To form a loop, a list of these indexes is given, to form a counter clockwise loop of edges. Each loop is given a loop index, increasing from zero.
Attach a QuadraticSurface to a loop, by using the setSurface function. Each surface is given an increasing surface index, starting from zero. Notice that this index is not necessarily the same as the loop index.

Together this forms a connected set of surfaces, curves and vertices, that forms a closed geometry. Functions are provided that makes it easy to search for various neighbouring primitives in the boundary representation.

It is also possible to retrieve a non-connected shell representation, either by making a PlainQuadraticShell with all information fully copied, or by using a the more lightweight shellProxy which retrieves its information from the underlying QuadraticBREP.

Member Function Documentation

◆ addEdge()

void addEdge	(	const rw::geometry::QuadraticCurve &	curve,
		std::size_t	v1,
		std::size_t	v2
	)

Add a QuadraticCurve to the BREP.

Notice that the curve has direction. It is expected to have limits such that it starts in vertex v1 and end in v2.

Parameters

curve	[in] curve to add.
v1	[in] the start vertex.
v2	[in] the end vertex.

◆ clone()

QuadraticBREP::Ptr clone ( ) const

Make a deep copy of the BREP.

Returns: a copy of the BREP.

◆ getCommonCurves()

CommonQuadraticCurveSet::CPtr getCommonCurves ( const std::set< std::size_t > & faces ) const

Get a set of common curves between a set of faces.

Parameters

faces [in] loop indexes for the faces to consider.

Returns: set of common curves as a CommonCurveSet.

◆ getCurve()

virtual const rw::geometry::QuadraticCurve& getCurve ( std::size_t curveIndex ) const

virtual

Get curve.

Parameters

curveIndex [in] index of the curve. Should be less than the number returned by edgeCount().

Returns: a reference to the curve.

Implements BREP.

◆ getCurves()

std::vector<rw::core::Ptr<rw::geometry::QuadraticCurve> > getCurves ( std::size_t loopIdx ) const

Get the curves in a given loop.

The curves will be traversed in an ordered way, and curves will have a direction that leads to the next curve.

Parameters

loopIdx [in] the loop index.

Returns: an ordered vector of curves.

◆ getSurface()

virtual const rw::geometry::QuadraticSurface& getSurface ( std::size_t surfaceIndex ) const

virtual

Get surface.

Parameters

surfaceIndex [in] the index of the surface. Should be less than the number returned by size().

Returns: a reference to the surface.

Implements BREP.

◆ getType()

virtual GeometryType getType ( ) const

virtual

the type of this primitive

Implements BREP.

◆ scale()

virtual void scale ( double factor )

virtual

Scale the object.

Parameters

factor [in] the factor to scale with.

Implements BREP.

◆ setFace()

void setFace	(	const rw::geometry::QuadraticSurface &	surface,
		std::size_t	loop
	)

Attach a QuadraticSurface to a face of the BREP.

Parameters

surface	[in] surface to add.
loop	[in] the loop index for the loop to attach surface to.

◆ shell()

rw::core::Ptr<PlainQuadraticShell> shell ( ) const

Get a QuadraticShell representation by copying geometric information to a concrete PlainQuadraticShell object.

Returns: smart pointer to a PlainQuadraticShell object.

◆ shellProxy()

rw::core::Ptr<const QuadraticShell> shellProxy ( ) const

Get a Shell representation as a proxy to the BREP.

Returns: smart pointer to a Shell proxy object.

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

QuadraticBREP.hpp

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addEdge()

◆ clone()

◆ getCommonCurves()

◆ getCurve()

◆ getCurves()

◆ getSurface()

◆ getType()

◆ scale()

◆ setFace()

◆ shell()

◆ shellProxy()