RobWorkProject: rw::geometry Namespace Reference

Loading and storing of CAD models. More...

Classes
class	AABB
	Axis Aligned Bounding Box class. More...

class	AnalyticUtil
	Utility functions for functions dealing with analytic geometry. More...

class	Box
	a box primitive, origin is in center of box More...

class	BREP
	Boundary representation (or B-Rep) of a geometric shape, using a collection of connected surfaces, edges and vertices. More...

class	BSphere
	class representing an Bounding sphere More...

class	BV
	a general bounding volume class for template inheritance. This class defines methods that a deriving class must implement. More...

class	BVCollider
	abstract class describing interface of a bounding volume collision detector. The inheritance is template based to reduce virtual method overhead More...

class	BVFactory
	interface of bounding volume factory More...

class	Cone
	cone primitive. Like a cylinder though where a radius can be specified for both ends. More...

class	Contour2D
	class representing a 2d contour More...

class	ConvexHull2D
	interface for convexhull calculators on 2d point sets More...

class	ConvexHull3D
	interface for convexhull calculators on 3d point sets More...

class	ConvexHullND
	interface for convexhull calculators on 3d point sets More...

class	Covariance
	class for estimating the covariance of different data More...

class	Curve
	Curve is an abstract representation of a smooth curve geometry in 3D. More...

class	Cylinder
	a cylinder primitive. By default the radius is in the x-y plane and height is along the z-axis More...

class	Delaunay
	Utility functions for doing Delaunay triangulations. More...

class	DistanceUtil
	a class for performing distance calculations between different geometric primitives More...

class	Face
	Abstract interface for geometric faces. More...

class	GenericFace
	The GenericFace implementation is a type of Face that consist of abstract Surfaces and Curves. More...

class	Geometry
	a class for representing a geometry that is scaled and transformed, and which is attached to a frame. More...

class	GeometryData
	an interface for geometry data. More...

class	GeometryUtil
	Utility functions for calculating properties of geometry. More...

class	HyperSphere
	A hyper-sphere of K dimensions. More...

class	ImplicitBREP
	Type of BREP where all surfaces are of type ImplicitSurface, and edges are of type ParametricCurve. More...

class	ImplicitFace
	Type of Face, where the surface is an ImplicitSurface and the edges are of type ParametricCurve. More...

class	ImplicitShell
	Type of Shell where all surfaces are of type ImplicitSurface and all curves are of type ParametricCurve. More...

class	ImplicitSurface
	Interface for implicit surfaces. An implicit surface is given by an expression of the form \( F(\mathbf{x})=0, \mathbf{x} \in \mathbb{R}^3\). More...

class	ImplicitTorus
	Torus defined as an implicit surface. More...

class	IndexedFaceArray
	An indexed face array is a proxy to a Shell, that makes it possible to easily sort faces and take subsets without modifying the underlying Shell. More...

class	IndexedPolygon
	indexed polygon class that saves N indices to the N vertices of the polygon More...

class	IndexedPolygonN
	Polygon with N vertice indices and 0 normals. More...

class	IndexedPolygonNN
	Polygon with N vertices and N normals. More...

class	IndexedQuadraticFaceArray
	Proxy class for a QuadraticShell, that allows sorting of faces without modifying the original object. More...

class	IndexedTriangle
	indexed triangle class that has 3 indices that points to 3 vertices in an array typically used with the IndexedTriMesh class. the indice type (size) is templated. More...

class	IndexedTriangleN1
	indexed triangle class with an additional index for an face normal More...

class	IndexedTriangleN3
	indexed triangle class with an additional index for 3 normals one for each vertice in the triangle More...

class	IndexedTriArray
	this class is a proxy to a triangle mesh where the triangles can be indirectly copied in an efficient manner. More...

class	IndexedTriMesh
	Interface for indexed triangle meshes. More...

class	IndexedTriMeshN0
	an Indexed Triangle mesh with zero normals More...

class	IntersectUtil
	utility class for calculating intersection points between geometry primitives More...

class	Line
	A line in 3D, described by a two points. More...

class	LineMetric
	A metric for calculating line-to-line distance. More...

class	Model3D
	a 3d model that has geometry but also material and color. he model can be composed of multiple objects that are connected in a hierarchical manner. The model is designed for efficient drawing and as such special structures are used to order the indexes such that efficient drawing is possible. More...

class	OBB
	class representing an Oriented Bounding Box (OBB) More...

class	OBBCollider
	class for testing if two Oriented Bounding Boxes (OBBs) are overlapping. The method used is based on the seperating axis theorem. Please see the article "OBBTree: A Hierarchical Structure for Rapid Interference Detection". More...

class	OBBFactory
	factory for computing tight fitting Oriented Bounding Boxes. More...

class	OBBToleranceCollider
	class for testing if two Oriented Bounding Boxes are overlapping More...

class	Object3D
	A concrete 3d object consisting of geometry information, material and texture. More...

class	Object3DGeneric
	An abstract 3d object consisting of geometry information, material and texture. More...

class	OBV
	a general oriented bounding volume class More...

class	ParametricCurve
	Interface for parametric curves. A parametric curve, \( \mathbf{p}(t) \in \mathbb{R}^3 \), has its points given as a function of a single parameter, \( t \in \mathbb{R}\). More...

class	PlainQuadraticShell
	A collection of concrete Quadratic surface patches, that together form a shell. More...

class	PlainTriMesh
	a triangle mesh representation that maintains a list of simple triangles. More...

class	Plane
	plane primitive represented in Hessian normal-form: anx+bny+c*nz+d=0 More...

class	PlaneMetric
	A metric for calculating plane-to-plane distance. More...

class	PointCloud
	A simple point cloud data structure. Points may be ordered or not. An ordered set is kept as a single array in row major order and with a width and a height. An unordered array must have height==1 and width equal to the number of points. More...

class	Polygon
	indexed polygon class that saves N indices to the N vertices of the polygon More...

class	PolygonUtil
	Utility functions for operations on polygons, such as convex partitioning. More...

class	Primitive
	defines an interface for a geometric shape that is defined by a set of parameters. More...

class	Pyramid
	a pyrimidal geometric primitive. The pyramid has a rectangular base in the xy-plane and its end pointed lie in the z-axis with a distance from the xy-plane. More...

class	QHull3D
	calculates the convex hull of a set of 3d points. More...

class	QHullND
	calculates the convex hull of a set of 3d points. More...

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

class	QuadraticCurve
	A quadratic curve. More...

class	QuadraticFace
	A Quadratic surface patch bounded by Quadratic curves. More...

class	QuadraticShell
	A collection of Quadratic surface patches, that together form a shell. More...

class	QuadraticSurface
	A quadratic surface. More...

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

class	Ray
	A ray - an infinitely extending half-line described by a starting position and a direction. More...

class	Shell
	A shell represents the geometry of an object as a collection of non-connected faces. More...

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

class	Surface
	Surface is an abstract representation of a smooth surface geometry. More...

class	Triangle
	plain triangle class. The second template argument specify the number of normals associated with the triangle. The triangle vertices should be arranged counter clock wise. More...

class	TriangleN1
	Triangle facet. triangle class of type N1, which means that beside the plain triangle the face normal of the triangle is saved with the facenormal. More...

class	TriangleN3
	Triangle facet. triangle class that stores one normal for each vertex in the triangle. More...

class	TriangleUtil
	utility for triangle manipulation More...

class	Triangulate
	Class for triangulating a polygon. More...

class	TriDistanceCalc
	class for testing if two Oriented Bounding Boxes are overlapping More...

class	TriMesh
	interface of a triangle mesh. The interface defines a way to get triangles from a triangle array/mesh. More...

class	TriMeshSurfaceSampler
	random sampling of points and orientations close to the surface of a geometry. More...

class	TriTriIntersectDeviller
	tests if two triangles are intersecting using devillers method. More...

class	TriTriIntersectMoller
	tests if two triangles are intersecting using Thomas Mollers, 1997, no div method. The code is strongly inspired (read converted to use RobWork types) from Opcode 1.3 Pierre Terdiman 2001. More...

class	TriTriToleranceIntersect
	tests if two swept sphere triangles are intersecting. This corresponds to testing if two triangles are within a certain distqance (tolerance) of each other More...

class	Tube
	a tube primitive. radius is in xy-plane and height is in z-axis More...

Typedefs
typedef IndexedTriMesh< double >	IndexedTriMeshD
	IndexedTriMesh using valuetype double.

typedef IndexedTriMesh< float >	IndexedTriMeshF
	IndexedTriMesh using valuetype float.

typedef rw::core::Ptr< IndexedTriMesh< double > >	IndexedTriMeshDPtr
	smart pointer type of IndexedTriMeshD

typedef rw::core::Ptr< IndexedTriMesh< float > >	IndexedTriMeshFPtr
	smart pointer type of IndexedTriMeshF

typedef rw::geometry::IndexedTriMeshN0< double >	IndexedTriMeshN0D
	The type for a IndexedTriMesh with no normals of double value type and uint16_t as index type.

typedef rw::geometry::IndexedTriMeshN0< float >	IndexedTriMeshN0F
	The type for a IndexedTriMesh with no normals of float value type and uint16_t as index type.

typedef rw::geometry::PlainTriMesh< rw::geometry::Triangle< double > >	PlainTriMeshD
	tri mesh, double, no normals

typedef rw::geometry::PlainTriMesh< rw::geometry::Triangle< float > >	PlainTriMeshF
	tri mesh, float, no normals

typedef rw::geometry::PlainTriMesh< rw::geometry::TriangleN1< double > >	PlainTriMeshN1D
	tri mesh, double, 1 face normal

typedef rw::geometry::PlainTriMesh< rw::geometry::TriangleN1< float > >	PlainTriMeshN1F
	tri mesh, float, 1 face normal

typedef rw::geometry::PlainTriMesh< rw::geometry::TriangleN3< double > >	PlainTriMeshN3D
	tri mesh, double, 3 vertex normals

typedef rw::geometry::PlainTriMesh< rw::geometry::TriangleN3< float > >	PlainTriMeshN3F
	tri mesh, float, 3 vertex normals

Enumerations
enum	VertexIdx { V1 = 0, V2, V3 }
	vertice indexes of triangle More...

Detailed Description

Loading and storing of CAD models.

Enumeration Type Documentation

◆ VertexIdx

enum VertexIdx

vertice indexes of triangle

Enumerator
V1	The first vertex.
V2	The second vertex.
V3	The third vertex.

Classes

Typedefs

Enumerations

Detailed Description

Enumeration Type Documentation

◆ VertexIdx