Surface Class Reference

Surface is an abstract representation of a smooth surface geometry. More...

#include <Surface.hpp>

Inherited by ImplicitSurface.

Public Types
typedef rw::core::Ptr< Surface >	Ptr
	Smart pointer type for Surface.
typedef rw::core::Ptr< const Surface >	CPtr
	Smart pointer type for const Surface.

Public Member Functions
	Surface ()
	Constructor.
virtual	~Surface ()
	Destructor.
Surface::Ptr	transform (const rw::math::Transform3D< double > &T) const
	Move the surface. More...
Surface::Ptr	transform (const rw::math::Vector3D< double > &P) const
	Move the surface without rotation. More...
Surface::Ptr	scale (double factor) const
	Get a scaled version of the surface. More...
Surface::Ptr	clone () const
	Clone the surface. More...
virtual std::pair< double, double >	extremums (const rw::math::Vector3D< double > &direction) const =0
	Find the extent of the surface along a specific direction. More...
virtual rw::core::Ptr< TriMesh >	getTriMesh (const std::vector< rw::math::Vector3D< double >> &border=std::vector< rw::math::Vector3D< double >>()) const =0
	Discretize the surface into a triangle mesh representation. More...
virtual void	setDiscretizationResolution (double resolution)=0
	Set the resolution used for discretization in the getTriMesh function. More...
virtual bool	equals (const Surface &surface, double threshold) const =0
	Check if this surface is identical to other surface . More...

Detailed Description

Surface is an abstract representation of a smooth surface geometry.

The interface provides functions for affine transformations, such as scaling, rotation and translation. In case of a trimmed surface, it is also possible to make a discretization of the surface to triangle mesh.

Member Function Documentation

clone()

Surface::Ptr clone ( ) const

inline

Clone the surface.

Returns

pointer to copy of surface.

equals()

virtual bool equals ( const Surface &  surface, double  threshold  ) const

pure virtual

Check if this surface is identical to other surface .

Parameters

surface	[in] other surface to compare to.
threshold	[in] threshold for when surfaces can be considered identical.

Returns

true if identical, false otherwise.

Implemented in ImplicitSurface, QuadraticSurface, and ImplicitTorus.

extremums()

virtual std::pair<double, double> extremums ( const rw::math::Vector3D< double > &  direction ) const

pure virtual

Find the extent of the surface along a specific direction.

If the surface has no lower bound, the value -std::numeric_limits<double>::max() can be returned to indicate that the surface has unbounded minimum value in the given direction.

If the surface has no upper bound, the value std::numeric_limits<double>::max() can be returned to indicate that the surface has unbounded maximum value in the given direction.

Parameters

direction

[in] a normalized direction vector.

Returns

the minimum and maximum values along the given direction.

Note

This function does not take trimming conditions into account. For trimmed surfaces, create a Face with the boundary curves and use Face::extremums.

Implemented in ImplicitSurface, QuadraticSurface, and ImplicitTorus.

getTriMesh()

virtual rw::core::Ptr<TriMesh> getTriMesh ( const std::vector< rw::math::Vector3D< double >> &  border = std::vector< rw::math::Vector3D< double >>() ) const

pure virtual

Discretize the surface into a triangle mesh representation.

If the border of a trimmed surface must fit with other surface triangulations, a discretized border must be given to this triangulation function.

If the same border points are used for different surfaces for their common edges, the triangulations will fit together.

Parameters

border

[in] (optional) an ordered list of points on the surface, that forms the border of the patch to triangulate.

Returns

a new TriMesh.

Implemented in ImplicitSurface, QuadraticSurface, and ImplicitTorus.

scale()

Surface::Ptr scale ( double  factor ) const

inline

Get a scaled version of the surface.

Parameters

factor

[in] the factor to scale with.

Returns

a new scaled surface.

setDiscretizationResolution()

virtual void setDiscretizationResolution ( double  resolution )

pure virtual

Set the resolution used for discretization in the getTriMesh function.

The meaning of this parameter depends on the type of surface.

Parameters

resolution

[in] the resolution parameter.

Implemented in ImplicitSurface, QuadraticSurface, and ImplicitTorus.

transform() [1/2]

Surface::Ptr transform ( const rw::math::Transform3D< double > &  T ) const

inline

Move the surface.

Parameters

T	[in] the transform to the new surface.

Returns

pointer to a new surface.

See also

transform(const rw::math::Vector3D<double>&) const if there is no rotation. This will preserve some nice properties for certain types of surfaces.

transform() [2/2]

Surface::Ptr transform ( const rw::math::Vector3D< double > &  P ) const

inline

Move the surface without rotation.

If there is no rotation, this function is better to use than transform(const rw::math::Transform3D<>&) const for some surfaces. This is because certain properties can be preserved.

Parameters

P	[in] the translation vector to the new surface.

Returns

pointer to a new surface.

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

• Surface.hpp