RobWorkProject  24.8.2-

Utility functions for operations on quadratic surfaces and curves. More...

## Public Types

typedef std::pair< rw::math::Vector3D< double >, rw::math::Vector3D< double > > PointPair
Type for a pair of points.

## Static Public Member Functions

static bool closestPointsApproximation (const rw::geometry::QuadraticSurface &s1, const rw::geometry::QuadraticSurface &s2, PointPair &result, double epsIn, double epsOut)
Find and approximation of the closest points between two surfaces s1 and s2. More...

static bool closestPointsApproximation (const rw::geometry::QuadraticSurface &s, const rw::geometry::QuadraticCurve &c, PointPair &result, double epsIn, double epsOut)
Find and approximation of the closest points between a surface s and a curve c. More...

Find an approximation of the curve parameter values of curves ca and cb at the closest points. More...

## Detailed Description

Utility functions for operations on quadratic surfaces and curves.

Functions are provided to find approximate closest points between different combinations of quadratics surfaces and curves.

## ◆ closestPointsApproximation() [1/2]

 static bool closestPointsApproximation ( const rw::geometry::QuadraticSurface & s, const rw::geometry::QuadraticCurve & c, PointPair & result, double epsIn, double epsOut )
static

Find and approximation of the closest points between a surface s and a curve c.

The approximation is valid when the distance is small. Only closest points within the trimming region of surface s and within the limits of curve c will give a result.

Parameters
 s [in] the surface. c [in] the curve. result [out] the result (only valid if the function returns true). epsIn [in] threshold for penetration depth. epsOut [in] threshold for distance.
Returns
true if there is a closest point pair within the given limits.

## ◆ closestPointsApproximation() [2/2]

 static bool closestPointsApproximation ( const rw::geometry::QuadraticSurface & s1, const rw::geometry::QuadraticSurface & s2, PointPair & result, double epsIn, double epsOut )
static

Find and approximation of the closest points between two surfaces s1 and s2.

The approximation is valid when the distance is small. Only closest points within the trimming regions will give a result.

Parameters
 s1 [in] the first surface. s2 [in] the second surface. result [out] the result (only valid if the function returns true). epsIn [in] threshold for penetration depth. epsOut [in] threshold for distance.
Returns
true if there is a closest point pair within the given limits.