Static Public Member Functions
static void	CreateBoxTriangles (std::vector< TriMeshModel::triangle > &triangles, const Eigen::Matrix4f &globalPose, float width=50.f, float height=50.f, float depth=50.f)

static std::vector< TriMeshModel::triangle >	CreateBoxTriangles (const Eigen::Matrix4f &globalPose, float width=50.f, float height=50.f, float depth=50.f)

static TriMeshModelPtr	CreateBox (const Eigen::Matrix4f &globalPose, float width=50.f, float height=50.f, float depth=50.f, const VisualizationFactory::Color &color=VisualizationFactory::Color::Gray(), const std::vector< VisualizationFactory::Color > &colors={})

static TriMeshModelPtr	CreateSparseBoxGrid (const Eigen::Matrix4f &globalPose, const std::vector< Eigen::Vector3f > &positions, float width=50.f, float height=50.f, float depth=50.f, const VisualizationFactory::Color &color=VisualizationFactory::Color::Gray(), const std::vector< VisualizationFactory::Color > &colors={})

static std::optional< Eigen::Vector3f >	sampleSurfacePoint (const std::vector< float > &cumulativeAreas, double totalArea, const VirtualRobot::TriMeshModel &tri)

static std::vector< Eigen::Vector3f >	uniformSampling (const VirtualRobot::TriMeshModel &tri, unsigned int n=1000)
	Uniformly samples points on the surface of a trimesh model and can be used to create a point cloud of the model. More...

Member Function Documentation

◆ CreateBox()

TriMeshModelPtr VirtualRobot::TriMeshUtils::CreateBox	(	const Eigen::Matrix4f &	globalPose,
		float	width = `50.f`,
		float	height = `50.f`,
		float	depth = `50.f`,
		const VisualizationFactory::Color &	color = `VisualizationFactory::Color::Gray()`,
		const std::vector< VisualizationFactory::Color > &	colors = `{}`
	)

static

void VirtualRobot::TriMeshUtils::CreateBoxTriangles	(	std::vector< TriMeshModel::triangle > &	triangles,
		const Eigen::Matrix4f &	globalPose,
		float	width = `50.f`,
		float	height = `50.f`,
		float	depth = `50.f`
	)

static

std::vector< TriMeshModel::triangle > VirtualRobot::TriMeshUtils::CreateBoxTriangles	(	const Eigen::Matrix4f &	globalPose,
		float	width = `50.f`,
		float	height = `50.f`,
		float	depth = `50.f`
	)

static

TriMeshModelPtr VirtualRobot::TriMeshUtils::CreateSparseBoxGrid	(	const Eigen::Matrix4f &	globalPose,
		const std::vector< Eigen::Vector3f > &	positions,
		float	width = `50.f`,
		float	height = `50.f`,
		float	depth = `50.f`,
		const VisualizationFactory::Color &	color = `VisualizationFactory::Color::Gray()`,
		const std::vector< VisualizationFactory::Color > &	colors = `{}`
	)

static

std::optional< Eigen::Vector3f > VirtualRobot::TriMeshUtils::sampleSurfacePoint	(	const std::vector< float > &	cumulativeAreas,
		double	totalArea,
		const VirtualRobot::TriMeshModel &	tri
	)

static

std::vector< Eigen::Vector3f > VirtualRobot::TriMeshUtils::uniformSampling	(	const VirtualRobot::TriMeshModel &	tri,
		unsigned int	n = `1000`
	)

static

Uniformly samples points on the surface of a trimesh model and can be used to create a point cloud of the model.