#include <sch/S_Object/S_Object.h>

Inheritance diagram for sch::S_Object:

Collaboration diagram for sch::S_Object:

Public Types
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...

Public Member Functions
virtual SCH_API Point3	l_Support (const Vector3 &v, int &lastFeature) const =0
	gives the support point for a given vector in local cordinates and a given last feature. MUST BE OVERLOADED. More...

virtual SCH_API S_Object *	clone () const =0
	Returns a copy of this S_Object. More...

SCH_API	S_Object (void)

virtual SCH_API	~S_Object (void)

virtual SCH_API Point3	support (const Vector3 &v) const =0
	put 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 =0
	version of support with last feature optimization More...

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

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

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

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

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

Adds a translation
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 Attributes
S_ObjectTimeStamp	stamp_

int	stacks_

int	slices_

Matrix3x3	mRot_

Vector3	trans_

Detailed Description

Examples: example1.cpp, and example2.cpp.

Member Enumeration Documentation

◆ S_ObjectType

enum sch::S_Object::S_ObjectType

type of a solid object. Don't use it to cast !

Enumerator
TS_Object
TPolyhedron
TSTP_BV
TSphere
TBox
TSuperellipsoid
TSTP_BV_WithPolyhedron
TPoint
TCapsule
TCone
TCylinder

Constructor & Destructor Documentation

◆ S_Object()

SCH_API sch::S_Object::S_Object ( void )

◆ ~S_Object()

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

virtual

Member Function Documentation

◆ addRotation() [1/7]

SCH_API void sch::S_Object::addRotation ( const Matrix3x3 & Rotation )

composes the current orientation with a Rotation

Examples: example0.cpp.

◆ addRotation() [2/7]

SCH_API void sch::S_Object::addRotation ( const Quaternion quaternion )

◆ addRotation() [3/7]

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

◆ addRotation() [4/7]

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

◆ addRotation() [5/7]

SCH_API void sch::S_Object::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
	)

◆ addRotation() [6/7]

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

Euler ROLL PITCH YAW - AROUND X, Y THEN Z

◆ addRotation() [7/7]

SCH_API void sch::S_Object::addRotation ( const Scalar *const p )

◆ addScale()

SCH_API void sch::S_Object::addScale	(	const Scalar &	x,
		const Scalar &	y,
		const Scalar &	z
	)

composes the current transfornation with a scale

Examples: example0.cpp.

◆ addTransformation()

SCH_API void sch::S_Object::addTransformation ( const Matrix4x4 & transformation )

composes the current transfornation with transformation matrix one

◆ addTranslation() [1/3]

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

◆ addTranslation() [2/3]

SCH_API void sch::S_Object::addTranslation ( const Scalar *const v )

◆ addTranslation() [3/3]

SCH_API void sch::S_Object::addTranslation ( const Vector3 & v )

◆ checkStamp()

const S_ObjectTimeStamp & S_Object::checkStamp ( ) const

inline

returns the current time stamp

◆ clone()

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

pure virtual

Returns a copy of this S_Object.

Implemented in sch::STP_BV, sch::S_Polyhedron, sch::S_Cone, sch::S_Box, sch::S_Sphere, sch::S_Superellipsoid, sch::STP_BV_P, sch::S_Capsule, sch::S_Cylinder, and sch::S_Point.

◆ constructFromFile()

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

virtual

Reimplemented in sch::STP_BV, sch::S_Polyhedron, and sch::STP_BV_P.

◆ getOrientation()

const Matrix3x3 & S_Object::getOrientation ( ) const

inline

returns the orientation as a rotation matrix

◆ getPosition()

const Vector3 & S_Object::getPosition ( ) const

inline

returns the position

◆ getSlices()

int S_Object::getSlices ( ) const

inline

◆ getStacks()

int S_Object::getStacks ( ) const

inline

◆ getTransformationMatrix()

void S_Object::getTransformationMatrix ( Scalar * S ) const

inline

puts the transfomation matrix in a sclar array

◆ getType()

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

virtual

must be overloaded to return the type

Reimplemented in sch::STP_BV, sch::S_Polyhedron, sch::STP_BV_P, sch::S_Cone, sch::S_Box, sch::S_Capsule, sch::S_Cylinder, sch::S_Sphere, sch::S_Point, and sch::S_Superellipsoid.

Examples: example1.cpp, and example2.cpp.

◆ l_Support()

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

pure 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.

Implemented in sch::STP_BV, sch::S_Polyhedron, sch::S_Cone, sch::S_Box, sch::S_Capsule, sch::S_Cylinder, sch::S_Sphere, sch::S_Point, sch::S_Superellipsoid, and sch::STP_BV_P.

◆ resetTransformation()

SCH_API void sch::S_Object::resetTransformation ( )

loads Identity

◆ serialize()

template<class Archive >

void sch::S_Object::serialize	(	Archive &	ar,
		const unsigned int
	)

inline

◆ setOrientation() [1/7]

SCH_API void sch::S_Object::setOrientation ( const Matrix3x3 & Rotation )

Examples: example0.cpp, example1.cpp, and example2.cpp.

◆ setOrientation() [2/7]

SCH_API void sch::S_Object::setOrientation ( const Quaternion quaternion )

◆ setOrientation() [3/7]

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

◆ setOrientation() [4/7]

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

◆ setOrientation() [5/7]

SCH_API void sch::S_Object::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
	)

◆ setOrientation() [6/7]

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

Euler ROLL PITCH YAW - AROUND X, Y THEN Z

◆ setOrientation() [7/7]

SCH_API void sch::S_Object::setOrientation ( const Scalar *const p )

◆ setPosition() [1/3]

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

◆ setPosition() [2/3]

SCH_API void sch::S_Object::setPosition ( const Scalar *const v )

◆ setPosition() [3/3]

SCH_API void sch::S_Object::setPosition ( const Vector3 & v )

Sets the position.

Examples: example0.cpp, example1.cpp, and example2.cpp.

◆ setTransformation()

SCH_API void sch::S_Object::setTransformation ( const Matrix4x4 & transformation )

Sets the transformation matrix.

◆ support() [1/2]

virtual SCH_API Point3 sch::S_Object::support ( const Vector3 & v ) const

pure virtual

put 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)

Parameters

v	direction vector

Returns: returns the support point.

Implemented in sch::S_ObjectNonNormalized, and sch::S_ObjectNormalized.

◆ support() [2/2]

virtual SCH_API Point3 sch::S_Object::support	(	const Vector3 &	v,
		int &	LastFeature
	)		const

pure virtual

version of support with last feature optimization

Parameters

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

Returns: returns the support point.

Implemented in sch::S_ObjectNonNormalized, and sch::S_ObjectNormalized.

Member Data Documentation

◆ mRot_

Matrix3x3 sch::S_Object::mRot_

protected

◆ slices_

int sch::S_Object::slices_

protected

◆ stacks_

int sch::S_Object::stacks_

protected

◆ stamp_

S_ObjectTimeStamp sch::S_Object::stamp_

protected

◆ trans_

Vector3 sch::S_Object::trans_

protected

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

include/sch/S_Object/S_Object.h
include/sch/S_Object/S_Object.hxx

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ S_ObjectType

Constructor & Destructor Documentation

◆ S_Object()

◆ ~S_Object()

Member Function Documentation

◆ addRotation() [1/7]

◆ addRotation() [2/7]

◆ addRotation() [3/7]

◆ addRotation() [4/7]

◆ addRotation() [5/7]

◆ addRotation() [6/7]

◆ addRotation() [7/7]

◆ addScale()

◆ addTransformation()

◆ addTranslation() [1/3]

◆ addTranslation() [2/3]

◆ addTranslation() [3/3]

◆ checkStamp()

◆ clone()

◆ constructFromFile()

◆ getOrientation()

◆ getPosition()

◆ getSlices()

◆ getStacks()

◆ getTransformationMatrix()

◆ getType()

◆ l_Support()

◆ resetTransformation()

◆ serialize()

◆ setOrientation() [1/7]

◆ setOrientation() [2/7]

◆ setOrientation() [3/7]

◆ setOrientation() [4/7]

◆ setOrientation() [5/7]

◆ setOrientation() [6/7]

◆ setOrientation() [7/7]

◆ setPosition() [1/3]

◆ setPosition() [2/3]

◆ setPosition() [3/3]

◆ setTransformation()

◆ support() [1/2]

◆ support() [2/2]

Member Data Documentation

◆ mRot_

◆ slices_

◆ stacks_

◆ stamp_

◆ trans_