Sphere Class Reference

a sphere primitive. centr in (0,0,0) and a radius. More...

#include <Sphere.hpp>

Inherits Primitive.

Public Member Functions
	Sphere (const rw::math::Q &initQ, int levels=16)
	constructor
	Sphere (double radi, int levels=16)
	constructor
virtual	~Sphere ()
	destructor
double	getRadius () const
	get sphere radius
TriMesh::Ptr	createMesh (int resolution) const
	make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into More...
virtual rw::math::Q	getParameters () const
	get the parameters that define this primitive More...
virtual void	setParameters (const rw::math::Q &q)
	set the parameters that define this primitive More...
GeometryData::GeometryType	getType () const
	the type of this primitive More...
Public Member Functions inherited from Primitive
virtual	~Primitive ()
	destructor
TriMesh::Ptr	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...
virtual bool	isConvex ()
	test if this geometry data is convex More...
bool	isInside (const rw::math::Vector3D< double > &point)
	test if a point is on the border or inside this primitive
Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Protected Member Functions
bool	doIsInside (const rw::math::Vector3D< double > &point)
	Check if point lies inside geometry. More...
Protected Member Functions inherited from Primitive
	Primitive (int levels=20)
	Constructor. More...

Additional Inherited Members
Public Types inherited from Primitive
typedef rw::core::Ptr< Primitive >	Ptr
	Smart pointer to this type of class.
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
Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Detailed Description

a sphere primitive. centr in (0,0,0) and a radius.

Member Function Documentation

createMesh()

TriMesh::Ptr createMesh ( int  resolution ) const

virtual

make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into

Parameters

resolution

[in]

Implements Primitive.

doIsInside()

bool doIsInside ( const rw::math::Vector3D< double > &  point )

inlineprotectedvirtual

Check if point lies inside geometry.

Parameters

point

[in] point to check.

Returns

true if inside geometry, false otherwise.

Reimplemented from Primitive.

getParameters()

virtual rw::math::Q getParameters ( ) const

inlinevirtual

get the parameters that define this primitive

Implements Primitive.

getType()

GeometryData::GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

setParameters()

virtual void setParameters ( const rw::math::Q &  q )

virtual

set the parameters that define this primitive

Implements Primitive.

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

• Sphere.hpp