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OSCAR::Polytope Class Reference
[ObstacleAvoidance]

Class for STL based polytope obstacle models Currently an empty class which can be instantiated but can not be used for anything useful. More...

#include <Polytope.h>

Inheritance diagram for OSCAR::Polytope:

[legend]List of all members.


Public Methods
	Polytope (const String &stlfilepath, double tolerance=0.0001)
	Polytope ()
	Polytope (const Polytope &arg)
virtual	~Polytope ()
Polytope &	operator= (const Polytope &rhs)
const String &	GetSTLFileName () const
virtual Polytope *	Clone () const
virtual bool	createSolid ()
virtual bool	Update (const Xform &transform)
void	SetPosition (OSCAR::Vector3 position)
void	SetOrientation (OSCAR::Quaternion orientation)
void	SetPose (OSCAR::Xform transform)
OSCAR::Vector3	GetPosition ()
OSCAR::Quaternion	GetOrientation ()
OSCAR::Xform	GetPose ()
std::pair< OSCAR::Vector3, OSCAR::Vector3 >	GetBoundingBox ()
void	SetMargin (float margin)
float	GetMargin ()
int	GetVertCount ()
int	GetTriCount ()
void	SetTolerance (double tolerance)
double	GetTolerance ()
bool	SetVertexArray (MT_Point3 *newVertArray, int arraySize)
MT_Point3 *	GetVertexArray ()
void	SetScene (DT_SceneHandle scene)
void	RemoveScene ()
Private Methods
bool	setSTLShape ()
bool	readSTLFile (vector< MT_Point3 > &verts, vector< MT_UInt3 > &tris)
int	findVertex (vector< MT_Point3 > &verts, float x, float y, float z)
MT_UInt3	orientCCW (vector< MT_Point3 > &verts, unsigned int v1, unsigned int v2, unsigned int v3, float nx, float ny, float nz)
Private Attributes
String	filePath
double	tol
MT_Point3 *	vert_array
DT_VertexBaseHandle	base_h
DT_SceneHandle	sceneHandle
MT_Vector3	pos_s
MT_Quaternion	orn_s
OSCAR::Vector3	pos_o
OSCAR::Quaternion	orn_o
MT_Vector3	bbmin
MT_Vector3	bbmax
float	marg
int	sizeverts
int	sizetris

Detailed Description

Author:: Andrew Spencer

Constructor & Destructor Documentation

OSCAR::Polytope::Polytope ( const String & stlfilepath,

double tolerance = 0.0001

)

Constructor. Used to create a Polytope object from an STL file.

Parameters:

String stlFileName The name of the file to be used

double tol The tolerance used to determine whether vertices are the same. Default value is 0.0001.

OSCAR::Polytope::Polytope ( )

Default constructor. Used to create arrays of polytope.

OSCAR::Polytope::Polytope ( const Polytope & arg )

Copy constructor. Create a polytope from an existing polytope.

Parameters:

arg The polytope to copy

virtual OSCAR::Polytope::~Polytope ( ) [virtual]

Destructor.

Member Function Documentation

virtual Polytope* OSCAR::Polytope::Clone ( ) const [virtual]

Clone this object. Every derived class must implement this method.

Returns:
A pointer to the cloned object which MUST be deleted or there will be memory leak.

Implements OSCAR::Primitive.

virtual bool OSCAR::Polytope::createSolid ( ) [virtual]

Reimplemented from OSCAR::Primitive.

int OSCAR::Polytope::findVertex ( vector< MT_Point3 > & verts,

float x,

float y,

float z

) [private]

std::pair<OSCAR::Vector3,OSCAR::Vector3> OSCAR::Polytope::GetBoundingBox ( )

float OSCAR::Polytope::GetMargin ( ) [inline]

OSCAR::Quaternion OSCAR::Polytope::GetOrientation ( )

OSCAR::Xform OSCAR::Polytope::GetPose ( )

OSCAR::Vector3 OSCAR::Polytope::GetPosition ( )

const String& OSCAR::Polytope::GetSTLFileName ( ) const [inline]

double OSCAR::Polytope::GetTolerance ( ) [inline]

int OSCAR::Polytope::GetTriCount ( ) [inline]

int OSCAR::Polytope::GetVertCount ( ) [inline]

MT_Point3* OSCAR::Polytope::GetVertexArray ( ) [inline]

Polytope& OSCAR::Polytope::operator= ( const Polytope & rhs )

Assignment operator.

MT_UInt3 OSCAR::Polytope::orientCCW ( vector< MT_Point3 > & verts,

unsigned int v1,

unsigned int v2,

unsigned int v3,

float nx,

float ny,

float nz

) [private]

bool OSCAR::Polytope::readSTLFile ( vector< MT_Point3 > & verts,

vector< MT_UInt3 > & tris

) [private]

void OSCAR::Polytope::RemoveScene ( ) [inline]

void OSCAR::Polytope::SetMargin ( float margin ) [inline]

void OSCAR::Polytope::SetOrientation ( OSCAR::Quaternion orientation )

void OSCAR::Polytope::SetPose ( OSCAR::Xform transform )

void OSCAR::Polytope::SetPosition ( OSCAR::Vector3 position )

void OSCAR::Polytope::SetScene ( DT_SceneHandle scene ) [inline]

bool OSCAR::Polytope::setSTLShape ( ) [private]

void OSCAR::Polytope::SetTolerance ( double tolerance ) [inline]

bool OSCAR::Polytope::SetVertexArray ( MT_Point3 * newVertArray,

int arraySize

)

virtual bool OSCAR::Polytope::Update ( const Xform & transform ) [virtual]

Transform the local points to the global points using a user specified Xform.

Parameters:

transform The Xform that will be used to transform the local points to the global frame

Returns:
True upon completion, false if unimplemented for the class

Reimplemented from OSCAR::Primitive.