TriMeshSurfaceSampler Class Reference

random sampling of points and orientations close to the surface of a geometry. More...

#include <TriMeshSurfaceSampler.hpp>

Public Types
typedef rw::core::Ptr< TriMeshSurfaceSampler >	Ptr

Public Member Functions
	TriMeshSurfaceSampler ()
	constructor
	TriMeshSurfaceSampler (rw::geometry::Geometry::Ptr geom)
	constructor More...
	TriMeshSurfaceSampler (const std::vector< rw::geometry::Geometry::Ptr > &geoms)
	constructor More...
virtual	~TriMeshSurfaceSampler ()
	destructor
void	add (rw::geometry::Geometry::Ptr geom)
	add surface representing geometry to this sampler More...
void	add (rw::geometry::TriMesh::Ptr mesh)
	add surface mesh. More...
rw::math::Transform3D	sample ()
	sample a pose on the surface of the object. More...
rw::math::Vector3D< double >	samplePoint ()
	sample point on surface of object
void	setBoundsD (double minD, double maxD)
	set the bounds to which the random position around the sampled surface point will be generated. See setRandomPositionEnabled More...
void	setRandomRotationEnabled (bool enabled)
	enable the generation of a random rotation instead of a rotation with the z-axis pointing in the surface normal direction. More...
void	setRandomPositionEnabled (bool enabled)
	enables generation of a random position within the sampled surface position. The local point will be generated within a min and max distance from the sampled surface point. See setBoundsD More...
void	setZAxisDirectionEnabled (bool enabled)
	enable z-axis direction filtering. See setZAxisDirection for information on setting the direction. More...
void	setZAxisDirection (const rw::math::Vector3D< double > &dir)
	sets the direction that the z-axis must point into. this is equal to testing if the z-axis of the generated pose lies on the right side of the plane defined by the plane normal dir and (0,0,0). More...
rw::geometry::TriMesh::Ptr	getMesh ()
	return the mesh that is being sampled More...

Detailed Description

random sampling of points and orientations close to the surface of a geometry.

A point p on the surface is randomly choosen.
A rotation rot is randomly generated.
A random distance d in the interval [minD, maxD] is generated
The position pos is calculated as \( pos = p - rot*(0,0,d)^T \)
The random pose X is thus \( X = (pos, rot) \) Optionally a random rotation of X can be generated such that z-axis of rot is not allways pointing toward the surface.

Constructor & Destructor Documentation

TriMeshSurfaceSampler() [1/2]

TriMeshSurfaceSampler

(

rw::geometry::Geometry::Ptr

geom

)

constructor

Parameters

geom	[in] geometry representing the surface that should be sampled.

TriMeshSurfaceSampler() [2/2]

TriMeshSurfaceSampler

(

const std::vector< rw::geometry::Geometry::Ptr > &

geoms

)

constructor

Parameters

geoms

[in] list of geometries representing the surface that should be sampled.

Member Function Documentation

add() [1/2]

void add

(

rw::geometry::Geometry::Ptr

geom

)

add surface representing geometry to this sampler

Parameters

geom	[in] geometry representing surface to be sampled

add() [2/2]

void add

(

rw::geometry::TriMesh::Ptr

mesh

)

add surface mesh.

Parameters

mesh	[in] mesh to add to sampler.

getMesh()

rw::geometry::TriMesh::Ptr getMesh

(

)

return the mesh that is being sampled

Returns

mesh

sample()

rw::math::Transform3D sample

(

)

sample a pose on the surface of the object.

Returns

transform3d of the sampled pose

setBoundsD()

void setBoundsD	(	double	minD,
		double	maxD
	)

set the bounds to which the random position around the sampled surface point will be generated. See setRandomPositionEnabled

Parameters

minD	[in] minimum distance
maxD	[in] maximum distance.

setRandomPositionEnabled()

void setRandomPositionEnabled

(

bool

enabled

)

enables generation of a random position within the sampled surface position. The local point will be generated within a min and max distance from the sampled surface point. See setBoundsD

Parameters

enabled

[in] true to enable local random generation around sampled surface point. False otherwise.

setRandomRotationEnabled()

void setRandomRotationEnabled

(

bool

enabled

)

enable the generation of a random rotation instead of a rotation with the z-axis pointing in the surface normal direction.

Parameters

enabled

[in]

setZAxisDirection()

void setZAxisDirection

(

const rw::math::Vector3D< double > &

dir

)

sets the direction that the z-axis must point into. this is equal to testing if the z-axis of the generated pose lies on the right side of the plane defined by the plane normal dir and (0,0,0).

Setting this also sets setZAxisDirectionEnabled( true )

Parameters

dir

[in]

setZAxisDirectionEnabled()

void setZAxisDirectionEnabled

(

bool

enabled

)

enable z-axis direction filtering. See setZAxisDirection for information on setting the direction.

Parameters

enabled

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

• TriMeshSurfaceSampler.hpp