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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Jia Pan */ |
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#ifndef COAL_SHAPE_CONVEX_H |
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#define COAL_SHAPE_CONVEX_H |
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#include "coal/shape/geometric_shapes.h" |
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namespace coal { |
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/// @brief Convex polytope |
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/// @tparam PolygonT the polygon class. It must have method \c size() and |
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/// \c operator[](int i) |
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template <typename PolygonT> |
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class Convex : public ConvexBase { |
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public: |
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/// @brief Construct an uninitialized convex object |
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Convex() : ConvexBase(), num_polygons(0) {} |
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/// @brief Constructing a convex, providing normal and offset of each polytype |
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/// surface, and the points and shape topology information \param ownStorage |
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/// whether this class owns the pointers of points and |
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/// polygons. If owned, they are deleted upon destruction. |
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/// \param points_ list of 3D points |
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/// \param num_points_ number of 3D points |
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/// \param polygons_ \copydoc Convex::polygons |
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/// \param num_polygons_ the number of polygons. |
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/// \note num_polygons_ is not the allocated size of polygons_. |
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Convex(std::shared_ptr<std::vector<Vec3s>> points_, unsigned int num_points_, |
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std::shared_ptr<std::vector<PolygonT>> polygons_, |
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unsigned int num_polygons_); |
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/// @brief Copy constructor |
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/// Only the list of neighbors is copied. |
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Convex(const Convex& other); |
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~Convex(); |
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/// based on http://number-none.com/blow/inertia/bb_inertia.doc |
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Matrix3s computeMomentofInertia() const; |
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Vec3s computeCOM() const; |
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Scalar computeVolume() const; |
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/// |
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/// @brief Set the current Convex from a list of points and polygons. |
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/// |
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/// \param ownStorage whether this class owns the pointers of points and |
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/// polygons. If owned, they are deleted upon destruction. |
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/// \param points list of 3D points |
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/// \param num_points number of 3D points |
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/// \param polygons \copydoc Convex::polygons |
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/// \param num_polygons the number of polygons. |
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/// \note num_polygons is not the allocated size of polygons. |
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/// |
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void set(std::shared_ptr<std::vector<Vec3s>> points, unsigned int num_points, |
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std::shared_ptr<std::vector<PolygonT>> polygons, |
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unsigned int num_polygons); |
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/// @brief Clone (deep copy) |
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virtual Convex<PolygonT>* clone() const; |
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/// @brief An array of PolygonT object. |
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/// PolygonT should contains a list of vertices for each polygon, |
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/// in counter clockwise order. |
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std::shared_ptr<std::vector<PolygonT>> polygons; |
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unsigned int num_polygons; |
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protected: |
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void fillNeighbors(); |
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}; |
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} // namespace coal |
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#include "coal/shape/details/convex.hxx" |
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#endif |
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