RobWorkProject
22.2.21

Utility functions for operations on quadratic surfaces and curves. More...
#include <QuadraticUtil.hpp>
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...  
static std::vector< std::pair< double, double > >  closestTimesApproximation (const rw::geometry::QuadraticSurface &sa1, const rw::geometry::QuadraticSurface &sa2, const rw::geometry::QuadraticCurve &ca, const rw::geometry::QuadraticCurve &cb) 
Find an approximation of the curve parameter values of curves ca and cb at the closest points. More...  
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.

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.
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. 

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.
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. 

static 
Find an approximation of the curve parameter values of curves ca and cb at the closest points.
The approximation is valid when the distance is small. Only closest points within the limits of both curves will give a result.
sa1  [in] one of the surfaces the first curve ca is lying on. 
sa2  [in] the other surface the first curve ca is lying on. 
ca  [in] the first curve. 
cb  [in] the second curve. 