#include <sch/STP-BV/STP_BV.h>

Inheritance diagram for sch::STP_BV:

Collaboration diagram for sch::STP_BV:

Public Member Functions
SCH_API	STP_BV (void)

SCH_API	STP_BV (const STP_BV &)

virtual SCH_API	~STP_BV (void)

virtual SCH_API STP_BV &	operator= (const STP_BV &)

virtual SCH_API STP_BV *	clone () const
	Returns a copy of this S_Object. More...

virtual SCH_API Point3	l_Support (const Vector3 &v, int &lastFeature) const
	gives the support point for a given vector in local cordinates and a given last feature. MUST BE OVERLOADED. More...

virtual SCH_API S_ObjectType	getType () const
	must be overloaded to return the type More...

virtual SCH_API void	constructFromFile (const std::string &filename)
	Constructs the object from a file describing its STP_BV decomposition. More...

virtual SCH_API void	constructFromFileWithGL (const std::string &filename)

virtual SCH_API void	loadFromBinary (const std::string &filename)
	Load the object from a binary archive. More...

virtual SCH_API void	saveToBinary (const std::string &filename)
	Save the object to a binary archive. More...

SCH_API void	saveTreeInFile (const std::string &treefilename, ArchiveType type=TEXT_ARCHIVE)

SCH_API void	addPatch (STP_Feature *patch)
	Adds a bouding volume to the object. More...

SCH_API void	printSupportTree (std::string filename) const
	Print the support tree in a file. More...

virtual SCH_API Scalar	supportH (const Vector3 &v) const

virtual SCH_API Point3	supportNaive (const Vector3 &v) const

virtual SCH_API Point3	supportFarthestNeighbour (const Vector3 &v, int &lastFeature) const

virtual SCH_API Point3	supportFarthestNeighbourPrime (const Vector3 &v, int &lastFeature) const

virtual SCH_API Point3	supportHybrid (const Vector3 &v, int &lastFeature) const

virtual SCH_API Point3	supportFirstNeighbour (const Vector3 &v, int &lastFeature) const

virtual SCH_API Point3	supportFirstNeighbourPrime (const Vector3 &v, int &lastFeature) const
	gives the support for a vector using the First neighbour method. More...

virtual SCH_API bool	ray_cast (const Point3 &source, const Point3 &target, Scalar &param, Vector3 &normal) const
	I don't know. More...

SCH_API int	getFeaturesNumber () const
	returns the vertex number in the STP-BV More...

const std::vector< sch::Geometry > &	getGeometries () const

template<class Archive >
void	load (Archive &ar, const unsigned int)

template<class Archive >
void	save (Archive &ar, const unsigned int) const

Scalar	getBigRadius () const

Scalar	getSmallRadius () const

Public Member Functions inherited from sch::S_ObjectNormalized
SCH_API	S_ObjectNormalized (void)

virtual SCH_API	~S_ObjectNormalized (void)

virtual SCH_API Point3	support (const Vector3 &v) const
	put the vector NORMALIZED it in objects coordinates, then calls l_support. DO NOT OVERLOAD IT UNLESS YOU KNOW WHAT YOU ARE DOING (if you want to define the support function, overload l_support) More...

virtual SCH_API Point3	support (const Vector3 &v, int &LastFeature) const
	version of support with last feature optimization More...

template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Public Member Functions inherited from sch::S_Object
SCH_API	S_Object (void)

virtual SCH_API	~S_Object (void)

SCH_API void	setOrientation (const Matrix3x3 &Rotation)

SCH_API void	setOrientation (const Scalar &r00, const Scalar &r01, const Scalar &r02, const Scalar &r10, const Scalar &r11, const Scalar &r12, const Scalar &r20, const Scalar &r21, const Scalar &r22)

SCH_API void	setOrientation (const Quaternion quaternion)

SCH_API void	setOrientation (const Scalar &q0, const Scalar &q1, const Scalar &q2, const Scalar &q3)

SCH_API void	setOrientation (const Scalar &yaw, const Scalar &pitch, const Scalar &roll)

SCH_API void	setOrientation (const Scalar *const p)

SCH_API void	setOrientation (const Scalar &angle, const Vector3 &axe)

SCH_API void	setPosition (const Vector3 &v)
	Sets the position. More...

SCH_API void	setPosition (const Scalar &x, const Scalar &y, const Scalar &z)

SCH_API void	setPosition (const Scalar *const v)

SCH_API void	setTransformation (const Matrix4x4 &transformation)
	Sets the transformation matrix. More...

SCH_API void	addRotation (const Matrix3x3 &Rotation)
	composes the current orientation with a Rotation More...

SCH_API void	addRotation (const Scalar &r00, const Scalar &r01, const Scalar &r02, const Scalar &r10, const Scalar &r11, const Scalar &r12, const Scalar &r20, const Scalar &r21, const Scalar &r22)

SCH_API void	addRotation (const Quaternion quaternion)

SCH_API void	addRotation (const Scalar &q0, const Scalar &q1, const Scalar &q2, const Scalar &q3)

SCH_API void	addRotation (const Scalar &angle, const Vector3 &axe)

SCH_API void	addRotation (const Scalar &yaw, const Scalar &pitch, const Scalar &roll)

SCH_API void	addRotation (const Scalar *const p)

SCH_API void	addScale (const Scalar &x, const Scalar &y, const Scalar &z)
	composes the current transfornation with a scale More...

SCH_API void	addTransformation (const Matrix4x4 &transformation)
	composes the current transfornation with transformation matrix one More...

SCH_API void	resetTransformation ()
	loads Identity More...

const SCH_API Vector3 &	getPosition () const
	returns the position More...

const SCH_API Matrix3x3 &	getOrientation () const
	returns the orientation as a rotation matrix More...

SCH_API void	getTransformationMatrix (Scalar *S) const
	puts the transfomation matrix in a sclar array More...

int	getSlices () const

int	getStacks () const

const S_ObjectTimeStamp &	checkStamp () const
	returns the current time stamp More...

template<class Archive >
void	serialize (Archive &ar, const unsigned int)

SCH_API void	addTranslation (const Vector3 &v)

SCH_API void	addTranslation (const Scalar *const v)

SCH_API void	addTranslation (const Scalar &x, const Scalar &y, const Scalar &z)

Protected Member Functions
SCH_API void	loadTreeFromFile (const std::string &treefilename, ArchiveType type=TEXT_ARCHIVE)
	Load the tree structure of the object from a file. More...

SCH_API void	computeArcPointsBetween (const Point3 &p1, const Point3 &p2, const Point3 &center, int step, std::vector< Point3 > &res) const
	Computes the points of an arc. More...

SCH_API void	computeConePointsBetween (const Point3 &p1, const Point3 &p2, Vector3 axis, int step, std::vector< Point3 > &res, Matrix3x3 &homo)
	Computes the points of. More...

SCH_API Point3	computeLinesCommonPoint (const Point3 &l1p1, const Point3 &l1p2, const Point3 &l2p1, const Point3 &l2p2) const
	Computes the intersection of two segments. More...

SCH_API Point3	computeCenter (const std::vector< Point3 > &points)
	Computes the center of a surface defined by a list of points. More...

SCH_API void	updateFastPatches ()
	Updates the dynamical array fastPatches. Must be called after each patches modification. More...

Protected Attributes
std::vector< STP_Feature * >	m_patches

STP_Feature **	m_fastPatches

STP_Feature **	m_lastPatches

int	m_patchesSize

Scalar	_r

Scalar	_R

std::vector< Geometry >	geometries_

Protected Attributes inherited from sch::S_Object
S_ObjectTimeStamp	stamp_

int	stacks_

int	slices_

Matrix3x3	mRot_

Vector3	trans_

Additional Inherited Members
Public Types inherited from sch::S_Object
enum	S_ObjectType { TS_Object, TPolyhedron, TSTP_BV, TSphere, TBox, TSuperellipsoid, TSTP_BV_WithPolyhedron, TPoint, TCapsule, TCone, TCylinder }
	type of a solid object. Don't use it to cast ! More...

Detailed Description

Examples: example2.cpp.

Constructor & Destructor Documentation

◆ STP_BV() [1/2]

SCH_API sch::STP_BV::STP_BV ( void )

◆ STP_BV() [2/2]

SCH_API sch::STP_BV::STP_BV ( const STP_BV & )

◆ ~STP_BV()

virtual SCH_API sch::STP_BV::~STP_BV ( void )

virtual

Member Function Documentation

◆ addPatch()

SCH_API void sch::STP_BV::addPatch ( STP_Feature * patch )

Adds a bouding volume to the object.

Parameters

patch bounding volume to add to the object

◆ clone()

virtual SCH_API STP_BV* sch::STP_BV::clone ( ) const

virtual

Returns a copy of this S_Object.

Implements sch::S_Object.

Reimplemented in sch::STP_BV_P.

◆ computeArcPointsBetween()

SCH_API void sch::STP_BV::computeArcPointsBetween	(	const Point3 &	p1,
		const Point3 &	p2,
		const Point3 &	center,
		int	step,
		std::vector< Point3 > &	res
	)		const

protected

Computes the points of an arc.

Parameters

p1	first point of the arc
p2	last point of the arc
center	center around which the arc revolves
step	number of subdivisions
res	vector to store the resulting points (including first and last points)

◆ computeCenter()

SCH_API Point3 sch::STP_BV::computeCenter ( const std::vector< Point3 > & points )

protected

Computes the center of a surface defined by a list of points.

Parameters

points vector containing all the points

Returns: the center

◆ computeConePointsBetween()

SCH_API void sch::STP_BV::computeConePointsBetween	(	const Point3 &	p1,
		const Point3 &	p2,
		Vector3	axis,
		int	step,
		std::vector< Point3 > &	res,
		Matrix3x3 &	homo
	)

protected

Computes the points of.

Parameters

p1	first point
p2	last point
cosangle	no use
axis	axis of the cone
step	number of subdivision
res	vector to store the resulting points (including first and last points)

◆ computeLinesCommonPoint()

SCH_API Point3 sch::STP_BV::computeLinesCommonPoint	(	const Point3 &	l1p1,
		const Point3 &	l1p2,
		const Point3 &	l2p1,
		const Point3 &	l2p2
	)		const

protected

Computes the intersection of two segments.

Parameters

l1p1	first point of the first line
l1p2	last point of the first line
l2p1	first point of the second line
l2p2	last point of the second line

Returns: the result

◆ constructFromFile()

virtual SCH_API void sch::STP_BV::constructFromFile ( const std::string & filename )

virtual

Constructs the object from a file describing its STP_BV decomposition.

Parameters

filename path to the file describing the STP_BV decomposition of the object

Reimplemented from sch::S_Object.

Reimplemented in sch::STP_BV_P.

Examples: example2.cpp.

◆ constructFromFileWithGL()

virtual SCH_API void sch::STP_BV::constructFromFileWithGL ( const std::string & filename )

inlinevirtual

◆ getBigRadius()

Scalar sch::STP_BV::getBigRadius ( ) const

inline

◆ getFeaturesNumber()

SCH_API int sch::STP_BV::getFeaturesNumber ( ) const

returns the vertex number in the STP-BV

◆ getGeometries()

const std::vector<sch::Geometry>& sch::STP_BV::getGeometries ( ) const

◆ getSmallRadius()

Scalar sch::STP_BV::getSmallRadius ( ) const

inline

◆ getType()

virtual SCH_API S_ObjectType sch::STP_BV::getType ( ) const

virtual

must be overloaded to return the type

Reimplemented from sch::S_Object.

Reimplemented in sch::STP_BV_P.

◆ l_Support()

virtual SCH_API Point3 sch::STP_BV::l_Support	(	const Vector3 &	v,
		int &	lastFeature
	)		const

virtual

gives the support point for a given vector in local cordinates and a given last feature. MUST BE OVERLOADED.

Parameters

v	direction vector (normalized)
lastFeature	tells in which feature we were in last query, amd returns the new one. very important in spatio-temporal coherence

Returns: returns the support point.

Implements sch::S_Object.

Reimplemented in sch::STP_BV_P.

◆ load()

template<class Archive >

void sch::STP_BV::load	(	Archive &	ar,
		const unsigned int
	)

inline

◆ loadFromBinary()

virtual SCH_API void sch::STP_BV::loadFromBinary ( const std::string & filename )

virtual

Load the object from a binary archive.

Parameters

filename path to the binary archive

◆ loadTreeFromFile()

SCH_API void sch::STP_BV::loadTreeFromFile	(	const std::string &	treefilename,
		ArchiveType	type = `TEXT_ARCHIVE`
	)

protected

Load the tree structure of the object from a file.

Parameters

treefilename path to the binary file containing the tree of the object

This uses Boost serialization library.

◆ operator=()

virtual SCH_API STP_BV& sch::STP_BV::operator= ( const STP_BV & )

virtual

◆ printSupportTree()

SCH_API void sch::STP_BV::printSupportTree ( std::string filename ) const

Print the support tree in a file.

Parameters

filename name of the file

◆ ray_cast()

virtual SCH_API bool sch::STP_BV::ray_cast	(	const Point3 &	source,
		const Point3 &	target,
		Scalar &	param,
		Vector3 &	normal
	)		const

virtual

I don't know.

Parameters

source
target
param
normal

◆ save()

template<class Archive >

void sch::STP_BV::save	(	Archive &	ar,
		const unsigned int
	)		const

inline

◆ saveToBinary()

virtual SCH_API void sch::STP_BV::saveToBinary ( const std::string & filename )

virtual

Save the object to a binary archive.

Parameters

filename path to the binary archive

◆ saveTreeInFile()

SCH_API void sch::STP_BV::saveTreeInFile	(	const std::string &	treefilename,
		ArchiveType	type = `TEXT_ARCHIVE`
	)

Parameters

treefilename	path to the binary file to contain the tree of the object
type	kind of Boost archive to use. Currently either BINARY_ARCHIVE or TEXT_ARCHIVE (this is default value)

Warning: Binary archives are platform dependent.

◆ supportFarthestNeighbour()

virtual SCH_API Point3 sch::STP_BV::supportFarthestNeighbour	(	const Vector3 &	v,
		int &	lastFeature
	)		const

virtual

Parameters

v direction

◆ supportFarthestNeighbourPrime()

virtual SCH_API Point3 sch::STP_BV::supportFarthestNeighbourPrime	(	const Vector3 &	v,
		int &	lastFeature
	)		const

virtual

Parameters

v direction

◆ supportFirstNeighbour()

virtual SCH_API Point3 sch::STP_BV::supportFirstNeighbour	(	const Vector3 &	v,
		int &	lastFeature
	)		const

virtual

Parameters

v direction

◆ supportFirstNeighbourPrime()

virtual SCH_API Point3 sch::STP_BV::supportFirstNeighbourPrime	(	const Vector3 &	v,
		int &	lastFeature
	)		const

virtual

gives the support for a vector using the First neighbour method.

Parameters

v direction

◆ supportH()

virtual SCH_API Scalar sch::STP_BV::supportH ( const Vector3 & v ) const

virtual

Parameters

v direction

◆ supportHybrid()

virtual SCH_API Point3 sch::STP_BV::supportHybrid	(	const Vector3 &	v,
		int &	lastFeature
	)		const

virtual

Parameters

v direction

◆ supportNaive()

virtual SCH_API Point3 sch::STP_BV::supportNaive ( const Vector3 & v ) const

virtual

Parameters

v direction

◆ updateFastPatches()

SCH_API void sch::STP_BV::updateFastPatches ( )

protected

Updates the dynamical array fastPatches. Must be called after each patches modification.

Member Data Documentation

◆ _r

Scalar sch::STP_BV::_r

protected

◆ _R

Scalar sch::STP_BV::_R

protected

◆ geometries_

std::vector<Geometry> sch::STP_BV::geometries_

protected

◆ m_fastPatches

STP_Feature** sch::STP_BV::m_fastPatches

protected

◆ m_lastPatches

STP_Feature** sch::STP_BV::m_lastPatches

protected

◆ m_patches

std::vector<STP_Feature *> sch::STP_BV::m_patches

protected

◆ m_patchesSize

int sch::STP_BV::m_patchesSize

protected

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

include/sch/STP-BV/STP_BV.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ STP_BV() [1/2]

◆ STP_BV() [2/2]

◆ ~STP_BV()

Member Function Documentation

◆ addPatch()

◆ clone()

◆ computeArcPointsBetween()

◆ computeCenter()

◆ computeConePointsBetween()

◆ computeLinesCommonPoint()

◆ constructFromFile()

◆ constructFromFileWithGL()

◆ getBigRadius()

◆ getFeaturesNumber()

◆ getGeometries()

◆ getSmallRadius()

◆ getType()

◆ l_Support()

◆ load()

◆ loadFromBinary()

◆ loadTreeFromFile()

◆ operator=()

◆ printSupportTree()

◆ ray_cast()

◆ save()

◆ saveToBinary()

◆ saveTreeInFile()

◆ supportFarthestNeighbour()

◆ supportFarthestNeighbourPrime()

◆ supportFirstNeighbour()

◆ supportFirstNeighbourPrime()

◆ supportH()

◆ supportHybrid()

◆ supportNaive()

◆ updateFastPatches()

Member Data Documentation

◆ _r

◆ _R

◆ geometries_

◆ m_fastPatches

◆ m_lastPatches

◆ m_patches

◆ m_patchesSize