GraspStudio::ConvexHullGenerator Class Reference

Static Public Member Functions
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW VirtualRobot::MathTools::ConvexHull3DPtr	CreateConvexHull (const std::vector< Eigen::Vector3f > &pointsInput)
static VirtualRobot::MathTools::ConvexHull3DPtr	CreateConvexHull (VirtualRobot::TriMeshModelPtr pointsInput)
static VirtualRobot::MathTools::ConvexHull6DPtr	CreateConvexHull (std::vector< VirtualRobot::MathTools::ContactPoint > &pointsInput)
static void	PrintStatistics (VirtualRobot::MathTools::ConvexHull6DPtr convHull)
static bool	ConvertPoints (const std::vector< Eigen::Vector3f > &points, double *storePointsQHull)
static bool	ConvertPoints (const std::vector< VirtualRobot::MathTools::ContactPoint > &points, double *storePointsQHull)
static void	PrintVertices (std::vector< VirtualRobot::MathTools::ContactPoint > &pointsInput)
static bool	checkVerticeOrientation (const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, const Eigen::Vector3f &v3, const Eigen::Vector3f &n)

Detailed Description

This class can be used as an interface for qhull. A convex hull can be generated out of point arrays. This class is thread safe, which means that multiple threads are allowed to use the static methods of ConvexHullGenerator.

Member Function Documentation

checkVerticeOrientation()

bool GraspStudio::ConvexHullGenerator::checkVerticeOrientation ( const Eigen::Vector3f &  v1, const Eigen::Vector3f &  v2, const Eigen::Vector3f &  v3, const Eigen::Vector3f &  n  )

static

ConvertPoints() [1/2]

bool GraspStudio::ConvexHullGenerator::ConvertPoints ( const std::vector< Eigen::Vector3f > &  points, double *  storePointsQHull  )

static

Convert points to qhull format

ConvertPoints() [2/2]

bool GraspStudio::ConvexHullGenerator::ConvertPoints ( const std::vector< VirtualRobot::MathTools::ContactPoint > &  points, double *  storePointsQHull  )

static

CreateConvexHull() [1/3]

VirtualRobot::MathTools::ConvexHull3DPtr GraspStudio::ConvexHullGenerator::CreateConvexHull ( const std::vector< Eigen::Vector3f > &  pointsInput )

static

Creates a convex hull of the points stored in pointsInput.

CreateConvexHull() [2/3]

VirtualRobot::MathTools::ConvexHull3DPtr GraspStudio::ConvexHullGenerator::CreateConvexHull ( VirtualRobot::TriMeshModelPtr  pointsInput )

static

CreateConvexHull() [3/3]

VirtualRobot::MathTools::ConvexHull6DPtr GraspStudio::ConvexHullGenerator::CreateConvexHull ( std::vector< VirtualRobot::MathTools::ContactPoint > &  pointsInput )

static

PrintStatistics()

void GraspStudio::ConvexHullGenerator::PrintStatistics ( VirtualRobot::MathTools::ConvexHull6DPtr  convHull )

static

PrintVertices()

void GraspStudio::ConvexHullGenerator::PrintVertices ( std::vector< VirtualRobot::MathTools::ContactPoint > &  pointsInput )

static