surface_hull.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#ifndef _H_MCRBDYNSURFACEHULL_H_
#define _H_MCRBDYNSURFACEHULL_H_
 
#include <mc_rtc/pragma.h>
 
MC_RTC_diagnostic_push
MC_RTC_diagnostic_ignored(GCC, "-Wsign-conversion")
#include <Eigen/Core>
MC_RTC_diagnostic_pop
#include <mc_rbdyn/api.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
#include <vector>
 
namespace sch
{
class S_Object;
}
 
namespace mc_rbdyn
{
 
struct Surface;
struct PlanarSurface;
struct CylindricalSurface;
struct GripperSurface;
 
MC_RBDYN_DLLAPI sch::S_Object * surface_to_sch(const mc_rbdyn::Surface & surface,
                                               const double & depth = 0.01,
                                               const unsigned int & slice = 8);
 
MC_RBDYN_DLLAPI sch::S_Object * sch_polyhedron(const std::vector<sva::PTransformd> & points);
 
MC_RBDYN_DLLAPI sch::S_Object * planar_hull(const mc_rbdyn::PlanarSurface & surface, const double & depth);
 
MC_RBDYN_DLLAPI sch::S_Object * cylindrical_hull(const mc_rbdyn::CylindricalSurface & surface,
                                                 const unsigned int & slice);
 
MC_RBDYN_DLLAPI sch::S_Object * gripper_hull(const mc_rbdyn::GripperSurface & surface, const double & depth);
 
} // namespace mc_rbdyn
 
#endif