VirtualRobot::SphereApproximator Class Reference

Data Structures
struct	FaceIndex
struct	SphereApproximation
	A data structure that represents a sphere. More...

Public Types
enum	EPolyhedronType { eTetrahedron, eOctahedron, eIcosahedron }

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SphereApproximator ()
	~SphereApproximator ()
void	generateGraph (SphereApproximation &storeResult, EPolyhedronType baseType, int levels, float radius)
TriMeshModelPtr	generateTriMesh (const SphereApproximation &a)
int	findVertex (const Eigen::Vector3f &position, float epsilon, std::vector< Eigen::Vector3f > &vertices)
float	AngleVecVec (const Eigen::Vector3f &vector1, const Eigen::Vector3f &vector2)
bool	check_intersect_tri (const Eigen::Vector3f &pt1, const Eigen::Vector3f &pt2, const Eigen::Vector3f &pt3, const Eigen::Vector3f &linept, const Eigen::Vector3f &vect, Eigen::Vector3f &storeIntersection)

Detailed Description

This class can be used to generate an approximated sphere representation. The sphere is represented by a set of uniformly sized triangles.

You can use the method generateGraph to fill the data structure SphereApproximation.

Member Enumeration Documentation

EPolyhedronType

enum VirtualRobot::SphereApproximator::EPolyhedronType

Enumerator
eTetrahedron
eOctahedron
eIcosahedron

Constructor & Destructor Documentation

SphereApproximator()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW VirtualRobot::SphereApproximator::SphereApproximator ( )

inline

~SphereApproximator()

VirtualRobot::SphereApproximator::~SphereApproximator ( )

inline

Member Function Documentation

AngleVecVec()

float VirtualRobot::SphereApproximator::AngleVecVec	(	const Eigen::Vector3f &	vector1,
		const Eigen::Vector3f &	vector2
	)

check_intersect_tri()

bool VirtualRobot::SphereApproximator::check_intersect_tri	(	const Eigen::Vector3f &	pt1,
		const Eigen::Vector3f &	pt2,
		const Eigen::Vector3f &	pt3,
		const Eigen::Vector3f &	linept,
		const Eigen::Vector3f &	vect,
		Eigen::Vector3f &	storeIntersection
	)

findVertex()

int VirtualRobot::SphereApproximator::findVertex	(	const Eigen::Vector3f &	position,
		float	epsilon,
		std::vector< Eigen::Vector3f > &	vertices
	)

generateGraph()

void VirtualRobot::SphereApproximator::generateGraph	(	SphereApproximation &	storeResult,
		EPolyhedronType	baseType,
		int	levels,
		float	radius
	)

Generates a sphere representation and fills the data structure storeResult with the result.

generateTriMesh()

VirtualRobot::TriMeshModelPtr VirtualRobot::SphereApproximator::generateTriMesh

(

const SphereApproximation &

a

)