RobWorkProject
24.12.4-
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Surface is an abstract representation of a smooth surface geometry. More...
#include <Surface.hpp>
Inherited by ImplicitSurface.
Public Types | |
typedef rw::core::Ptr< Surface > | Ptr |
Smart pointer type for Surface. | |
typedef rw::core::Ptr< const Surface > | CPtr |
Smart pointer type for const Surface. | |
Public Member Functions | |
Surface () | |
Constructor. | |
virtual | ~Surface () |
Destructor. | |
Surface::Ptr | transform (const rw::math::Transform3D< double > &T) const |
Move the surface. More... | |
Surface::Ptr | transform (const rw::math::Vector3D< double > &P) const |
Move the surface without rotation. More... | |
Surface::Ptr | scale (double factor) const |
Get a scaled version of the surface. More... | |
Surface::Ptr | clone () const |
Clone the surface. More... | |
virtual std::pair< double, double > | extremums (const rw::math::Vector3D< double > &direction) const =0 |
Find the extent of the surface along a specific direction. More... | |
virtual rw::core::Ptr< TriMesh > | getTriMesh (const std::vector< rw::math::Vector3D< double >> &border=std::vector< rw::math::Vector3D< double >>()) const =0 |
Discretize the surface into a triangle mesh representation. More... | |
virtual void | setDiscretizationResolution (double resolution)=0 |
Set the resolution used for discretization in the getTriMesh function. More... | |
virtual bool | equals (const Surface &surface, double threshold) const =0 |
Check if this surface is identical to other surface . More... | |
Surface is an abstract representation of a smooth surface geometry.
The interface provides functions for affine transformations, such as scaling, rotation and translation. In case of a trimmed surface, it is also possible to make a discretization of the surface to triangle mesh.
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inline |
Clone the surface.
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pure virtual |
Check if this surface is identical to other surface .
surface | [in] other surface to compare to. |
threshold | [in] threshold for when surfaces can be considered identical. |
Implemented in ImplicitSurface, QuadraticSurface, and ImplicitTorus.
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pure virtual |
Find the extent of the surface along a specific direction.
If the surface has no lower bound, the value -std::numeric_limits<double>::max() can be returned to indicate that the surface has unbounded minimum value in the given direction.
If the surface has no upper bound, the value std::numeric_limits<double>::max() can be returned to indicate that the surface has unbounded maximum value in the given direction.
direction | [in] a normalized direction vector. |
Implemented in ImplicitSurface, QuadraticSurface, and ImplicitTorus.
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pure virtual |
Discretize the surface into a triangle mesh representation.
If the border of a trimmed surface must fit with other surface triangulations, a discretized border must be given to this triangulation function.
If the same border points are used for different surfaces for their common edges, the triangulations will fit together.
border | [in] (optional) an ordered list of points on the surface, that forms the border of the patch to triangulate. |
Implemented in ImplicitSurface, QuadraticSurface, and ImplicitTorus.
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inline |
Get a scaled version of the surface.
factor | [in] the factor to scale with. |
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pure virtual |
Set the resolution used for discretization in the getTriMesh function.
The meaning of this parameter depends on the type of surface.
resolution | [in] the resolution parameter. |
Implemented in ImplicitSurface, QuadraticSurface, and ImplicitTorus.
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inline |
Move the surface.
T | [in] the transform to the new surface. |
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inline |
Move the surface without rotation.
If there is no rotation, this function is better to use than transform(const rw::math::Transform3D<>&) const for some surfaces. This is because certain properties can be preserved.
P | [in] the translation vector to the new surface. |