SurgSim::Math::SegmentMeshShape Class Reference

SegmentMeshShape defines a shape based on a mesh, like MeshShape. More...

`#include <SurgSim/Math/SegmentMeshShape.h>`

Inheritance diagram for SurgSim::Math::SegmentMeshShape:

## Public Member Functions

| SegmentMeshShape ()
| Constructor. More...
| SegmentMeshShape (const SegmentMeshShape &other)
| Copy constructor. More...
template<class VertexData , class EdgeData >
| SegmentMeshShape (const DataStructures::SegmentMesh< VertexData, EdgeData > &mesh, double radius=Geometry::DistanceEpsilon)
| Constructor. More...
| SURGSIM_CLASSNAME (SurgSim::Math::SegmentMeshShape)
int | getType () const override
double | getVolume () const override
| Get the volume of the shape. More...
Vector3d | getCenter () const override
| Get the volumetric center of the shape. More...
Matrix33d | getSecondMomentOfVolume () const override
| Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix. More...
bool | isValid () const override
| Check if the shape is valid. More...
void | setRadius (double radius)
double | getRadius () const
std::shared_ptr< const DataStructures::AabbTree > | getAabbTree () const
bool | isTransformable () const override
std::shared_ptr< Shape > | getTransformed (const RigidTransform3d &pose) const override
| Get a copy of this shape with an applied rigid transform. More...
Public Member Functions inherited from SurgSim::Math::Shape
| Shape ()
| Constructor. More...
virtual | ~Shape ()
| Destructor. More...
virtual std::string | getClassName () const
| Get class name. More...
virtual const Math::Aabbd & | getBoundingBox () const
Public Member Functions inherited from SurgSim::Framework::Accessible
| Accessible ()
| Default Constructor. More...
| ~Accessible ()
| Destructor. More...
template<class T >
T | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
boost::any | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found. More...
template<class T >
bool | getValue (const std::string &name, T *value) const
| Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
void | setValue (const std::string &name, const boost::any &value)
| Sets a value of a property that has setter. More...
bool | isReadable (const std::string &name) const
| Check whether a property is readable. More...
bool | isWriteable (const std::string &name) const
| Check whether a property is writable. More...
void | setGetter (const std::string &name, GetterType func)
| Sets a getter for a given property. More...
void | setSetter (const std::string &name, SetterType func)
| Sets a setter for a given property. More...
void | setAccessors (const std::string &name, GetterType getter, SetterType setter)
| Sets the accessors getter and setter in one function. More...
void | removeAccessors (const std::string &name)
| Removes all the accessors (getter and setter) for a given property. More...
void | forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
| Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
void | setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
| Sets the functions used to convert data from and to a YAML::Node. More...
void | setDecoder (const std::string &name, DecoderType decoder)
| Sets the functions used to convert data from a YAML::Node. More...
YAML::Node | encode () const
| Encode this Accessible to a YAML::Node. More...
void | decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
| Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
template<>
boost::any | getValue (const std::string &name) const
Public Member Functions inherited from SurgSim::DataStructures::SegmentMesh< VertexData, EdgeData >
| SegmentMesh ()
| Constructor. The mesh is initially empty (no vertices, no edges). More...
| SegmentMesh (const SegmentMesh< VertexData, EdgeData > &other)
| Copy constructor when the template data is the same type. More...
template<class V , class E >
| SegmentMesh (const SegmentMesh< V, E > &other)
| Copy constructor when the template data is a different type. More...
virtual | ~SegmentMesh ()
| Destructor. More...
| SegmentMesh (SegmentMesh &&other)
| Move Constructor. More...
SegmentMesh< VertexData, EdgeData > & | operator= (const SegmentMesh< VertexData, EdgeData > &other)
| Copy Assignment. More...
SegmentMesh< VertexData, EdgeData > & | operator= (SegmentMesh< VertexData, EdgeData > &&other)
| Move Assignment. More...
void | createDefaultEdges ()
| Creates edges for all vertices in the mesh connecting all the points consecutively. More...
bool | save (const std::string &fileName, bool asPhysics=true, double radius=0.0001, double massDensity=900, double poissonRatio=0.45, double youngsModulus=1.75e9)
| Save the current structure to a ply file. More...
size_t | addTriangle (const TriangleType &triangle)
size_t | getNumTriangles () const
const std::vector< TriangleType > & | getTriangles () const
std::vector< TriangleType > & | getTriangles ()
const TriangleType & | getTriangle (size_t id) const
TriangleType & | getTriangle (size_t id)
void | removeTriangle (size_t id)
std::array< SurgSim::Math::Vector3d, 3 > | getTrianglePositions (size_t id) const
void | doClearTriangles () override
Public Member Functions inherited from SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, SegmentEmptyData >
| TriangleMesh ()
| Constructor. The mesh is initially empty (no vertices, no edges, no triangles). More...
| TriangleMesh (const TriangleMesh< VertexData, EdgeData, SegmentEmptyData > &other)
| Copy constructor when the template data is the same type. More...
| TriangleMesh (const TriangleMesh< V, E, T > &other)
| Copy constructor when the template data is a different type. More...
| TriangleMesh (TriangleMesh &&other)
| Move Constructor. More...
virtual | ~TriangleMesh ()
| Destructor. More...
TriangleMesh< VertexData, EdgeData, SegmentEmptyData > & | operator= (const TriangleMesh< VertexData, EdgeData, SegmentEmptyData > &other)
| Copy Assignment. More...
TriangleMesh< VertexData, EdgeData, SegmentEmptyData > & | operator= (TriangleMesh< VertexData, EdgeData, SegmentEmptyData > &&other)
| Move Assignment. More...
std::string | getClassName () const override
| Support serialization with a classname. More...
size_t | addEdge (const EdgeType &edge)
| Adds an edge to the mesh. More...
size_t | addTriangle (const TriangleType &triangle)
| Adds a triangle to the mesh. More...
size_t | getNumEdges () const
| Get the number of edges. More...
size_t | getNumTriangles () const
| Get the number of triangles. More...
const std::vector< EdgeType > & | getEdges () const
| Retrieve all edges. More...
std::vector< EdgeType > & | getEdges ()
| Retrieve all edges (non const version) More...
const std::vector< TriangleType > & | getTriangles () const
| Retrieve all triangles. More...
std::vector< TriangleType > & | getTriangles ()
| Retrieve all triangles (non const version) More...
const EdgeType & | getEdge (size_t id) const
| Retrieve a specific edge. More...
EdgeType & | getEdge (size_t id)
| Retrieve a specific edge (non const version) More...
std::array< SurgSim::Math::Vector3d, 2 > | getEdgePositions (size_t id) const
| Returns an array of the edge's vertices' positions. More...
const TriangleType & | getTriangle (size_t id) const
| Retrieve a specific triangle. More...
TriangleType & | getTriangle (size_t id)
| Retrieve a specific triangle (non const version) More...
void | removeTriangle (size_t id)
| Marks a triangle as invalid, the triangle cannot be accessed via getTriangle anymore. More...
std::array< SurgSim::Math::Vector3d, 3 > | getTrianglePositions (size_t id) const
| Returns an array of the triangle's vertices' positions. More...
bool | isValid () const
| Test if the TriangleMesh is valid (valid vertex Ids used in all MeshElements) More...
void | save (const std::string &fileName)
| Save the triangle mesh in the ply format. More...
Public Member Functions inherited from SurgSim::DataStructures::Vertices< VertexData >
| Vertices ()
| Constructor. More...
template<class V >
| Vertices (const Vertices< V > &other)
| Copy constructor when the template data is a different type In this case, no data will be copied. More...
template<class V >
Vertices< VertexData > & | operator= (const Vertices< V > &other)
| Assignment when the template data is a different type In this case, no data will be copied. More...
virtual | ~Vertices ()
| Destructor. More...
void | clear ()
| Clear mesh to return to an empty state (no vertices). More...
bool | update ()
| Performs any updates that are required when the vertices are modified. More...
size_t | addVertex (const VertexType &vertex)
| Adds a vertex to the mesh. More...
size_t | getNumVertices () const
| Returns the number of vertices in this mesh. More...
const VertexType & | getVertex (size_t id) const
| Returns the specified vertex. More...
VertexType & | getVertex (size_t id)
| Returns the specified vertex (non const version). More...
const std::vector< VertexType > & | getVertices () const
| Returns a vector containing the position of each vertex. More...
std::vector< VertexType > & | getVertices ()
| Returns a vector containing the position of each vertex (non const version). More...
void | setVertexPosition (size_t id, const SurgSim::Math::Vector3d &position)
| Sets the position of a vertex. More...
const SurgSim::Math::Vector3d & | getVertexPosition (size_t id) const
| Returns the position of a vertex. More...
void | setVertexPositions (const std::vector< SurgSim::Math::Vector3d > &positions, bool doUpdate=true)
| Sets the position of each vertex. More...
void | transform (const Math::RigidTransform3d &pose)
| Apply a rigid transform to each vertex. More...
bool | operator== (const Vertices &mesh) const
| Compares the mesh with another one (equality) More...
bool | operator!= (const Vertices &mesh) const
| Compares the mesh with another one (inequality) More...
Public Member Functions inherited from SurgSim::Framework::Asset
| Asset ()
| Constructor. More...
| Asset (const Asset &rhs)
| Copy Constructor. More...
virtual | ~Asset ()
| Destructor. More...
void | load (const std::string &fileName, const SurgSim::Framework::ApplicationData &data)
| Load a file with given name using 'data' as look up path(s). More...
void | load (const std::string &fileName)
| Overloaded function using SurgSim::Framework::Runtime::getApplicationData() as look up path(s). More...
std::string | getFileName () const
| Return the name of file loaded by this class. More...

## Protected Member Functions

bool | doUpdate () override
| Performs any updates that are required when the vertices are modified. More...
bool | doLoad (const std::string &fileName) override
| Derived classes will overwrite this method to do actual loading. More...
void | updateAabbTree ()
| Update the AabbTree, which is an axis-aligned bounding box r-tree used to accelerate spatial searches. More...
Protected Member Functions inherited from SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, SegmentEmptyData >
std::string | m_className
std::string | m_className
virtual void | doClearEdges ()
| Remove all edges from the mesh. More...
virtual bool | isEqual (const Vertices< VertexData > &mesh) const
| Internal comparison of meshes of the same type: returns true if equal, false if not equal. More...
bool | doLoad (const std::string &fileName) override
| Derived classes will overwrite this method to do actual loading. More...
Protected Member Functions inherited from SurgSim::DataStructures::Vertices< VertexData >
virtual void | doClearVertices ()
| Remove all vertices from the mesh. More...

## Private Attributes

double | m_radius
| Segment radius. More...
std::shared_ptr< DataStructures::AabbTree > | m_aabbTree
| The aabb tree used to accelerate collision detection against the mesh. More...
Vector3d | m_segmentEndBoundingBoxHalfExtent
| Half extent of the AABB of the sphere at one of the segment end. More...

## Additional Inherited Members

Public Types inherited from SurgSim::Math::Shape
typedef ::SurgSim::Math::Vector3d | Vector3d
typedef ::SurgSim::Math::Matrix33d | Matrix33d
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> | GetterType
typedef std::function< void(boost::any)> | SetterType
typedef std::function< YAML::Node(void)> | EncoderType
typedef std::function< void(const YAML::Node *)> | DecoderType
Public Types inherited from SurgSim::Framework::FactoryBase< Shape >
typedef ObjectFactory< Shape > | FactoryType
Public Types inherited from SurgSim::DataStructures::SegmentMesh< VertexData, EdgeData >
typedef TriangleMesh< VertexData, EdgeData, SegmentEmptyData > | TriangleMeshType
| TriangleMesh type for convenience. More...
typedef TriangleMeshType::EdgeType | EdgeType
| Edge type for convenience (Ids of the 2 vertices) More...
typedef TriangleMeshType::TriangleType | TriangleType
| Triangle type for convenience (Ids of the 3 vertices) More...
Public Types inherited from SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, SegmentEmptyData >
typedef MeshElement< 2, EdgeData > | EdgeType
| Edge type for convenience (Ids of the 2 vertices) More...
typedef MeshElement< 3, SegmentEmptyData > | TriangleType
| Triangle type for convenience (Ids of the 3 vertices) More...
Public Types inherited from SurgSim::DataStructures::Vertices< VertexData >
typedef Vertex< VertexData > | VertexType
| Vertex type for convenience. More...
Public Types inherited from SurgSim::Framework::FactoryBase< Asset >
typedef ObjectFactory< Asset > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Shape >
static FactoryType & | getFactory ()
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Asset >
static FactoryType & | getFactory ()
Protected Attributes inherited from SurgSim::Math::Shape
Math::Aabbd | m_aabb
Static Protected Attributes inherited from SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, SegmentEmptyData >
static std::string | m_className

## Detailed Description

SegmentMeshShape defines a shape based on a mesh, like MeshShape.

But, unlike MeshShape, the mesh does not have any triangle topology. It only consists of edges.

See also
  MeshShape

## Constructor & Destructor Documentation

## SegmentMeshShape() [1/3]

SurgSim::Math::SegmentMeshShape::SegmentMeshShape | ( |  | ) |

Constructor.

## SegmentMeshShape() [2/3]

SurgSim::Math::SegmentMeshShape::SegmentMeshShape | ( | const SegmentMeshShape & | other | ) |

explicit

Copy constructor.

Parameters

  other | The SegmentMeshShape to be copied from

## SegmentMeshShape() [3/3]

template<class VertexData , class EdgeData >

SurgSim::Math::SegmentMeshShape::SegmentMeshShape | ( | const DataStructures::SegmentMesh< VertexData, EdgeData > & | mesh,
|  | double | radius = `Geometry::DistanceEpsilon`
| ) |  |

explicit

Constructor.

Parameters

  mesh | The segment mesh to build the shape from
  radius | The radius associated to this surface mesh

Note
  The default radius is positive EPSILON to be relevant in collision detection calculations.

## Member Function Documentation

## doLoad()

bool SurgSim::Math::SegmentMeshShape::doLoad | ( | const std::string & | filePath | ) |

override protected virtual

Derived classes will overwrite this method to do actual loading.

Note
  This method is not required to do any check on the validity or the existence of the file.

Parameters

  filePath | Absolute path to the file.

Returns
  True if loading is successful; Otherwise, false.

Implements SurgSim::Framework::Asset.

## doUpdate()

bool SurgSim::Math::SegmentMeshShape::doUpdate | ( |  | ) |

override protected virtual

Performs any updates that are required when the vertices are modified.

Override this method to implement update functionality. For example, this could be overridden to calculate normals for each Vertex.

Returns
  true on success.

Reimplemented from SurgSim::DataStructures::Vertices< VertexData >.

## getAabbTree()

std::shared_ptr< const DataStructures::AabbTree > SurgSim::Math::SegmentMeshShape::getAabbTree | ( |  | ) | const

Returns
  The object's associated AabbTree

## getCenter()

Vector3d SurgSim::Math::SegmentMeshShape::getCenter | ( |  | ) | const

override virtual

Get the volumetric center of the shape.

Returns
  The center of the shape

Implements SurgSim::Math::Shape.

## getRadius()

double SurgSim::Math::SegmentMeshShape::getRadius | ( |  | ) | const

Returns
  The radius of the segments.

## getSecondMomentOfVolume()

Matrix33d SurgSim::Math::SegmentMeshShape::getSecondMomentOfVolume | ( |  | ) | const

override virtual

Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.

Returns
  The 3x3 symmetric second moment matrix

Implements SurgSim::Math::Shape.

## getTransformed()

std::shared_ptr< Shape > SurgSim::Math::SegmentMeshShape::getTransformed | ( | const RigidTransform3d & | pose | ) | const

override virtual

Get a copy of this shape with an applied rigid transform.

Parameters

  pose | The pose to transform the shape by

Returns
  the posed shape

Reimplemented from SurgSim::Math::Shape.

## getType()

int SurgSim::Math::SegmentMeshShape::getType | ( |  | ) | const

override virtual

Returns
  the type of shape

Implements SurgSim::Math::Shape.

## getVolume()

double SurgSim::Math::SegmentMeshShape::getVolume | ( |  | ) | const

override virtual

Get the volume of the shape.

Returns
  The volume of the shape (in m-3)

Implements SurgSim::Math::Shape.

## isTransformable()

bool SurgSim::Math::SegmentMeshShape::isTransformable | ( |  | ) | const

override virtual

Returns
  true if the the shape can be transformed

Reimplemented from SurgSim::Math::Shape.

## isValid()

bool SurgSim::Math::SegmentMeshShape::isValid | ( |  | ) | const

override virtual

Check if the shape is valid.

Returns
  True if shape is valid; Otherwise, false.

will not work correctly.

Implements SurgSim::Math::Shape.

## setRadius()

void SurgSim::Math::SegmentMeshShape::setRadius | ( | double | radius | ) |

Parameters

  radius | The radius of the segments.

## SURGSIM_CLASSNAME()

SurgSim::Math::SegmentMeshShape::SURGSIM_CLASSNAME | ( | SurgSim::Math::SegmentMeshShape |  | ) |

## updateAabbTree()

void SurgSim::Math::SegmentMeshShape::updateAabbTree | ( |  | ) |

protected

Update the AabbTree, which is an axis-aligned bounding box r-tree used to accelerate spatial searches.

## Member Data Documentation

## m_aabbTree

std::shared_ptr<DataStructures::AabbTree> SurgSim::Math::SegmentMeshShape::m_aabbTree

private

The aabb tree used to accelerate collision detection against the mesh.

## m_radius

double SurgSim::Math::SegmentMeshShape::m_radius

private

Segment radius.

## m_segmentEndBoundingBoxHalfExtent

Vector3d SurgSim::Math::SegmentMeshShape::m_segmentEndBoundingBoxHalfExtent

private

Half extent of the AABB of the sphere at one of the segment end.

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

- SurgSim/Math/SegmentMeshShape.h
- SurgSim/Math/SegmentMeshShape-inl.h
- SurgSim/Math/SegmentMeshShape.cpp