OBBFactory< T > Class Template Reference

factory for computing tight fitting Oriented Bounding Boxes. More...

#include <OBBFactory.hpp>

Inherits BVFactory< OBB< double > >.

Public Types
enum	FitMethod { PCA , PCAHull , DITO14 }
	The supported methods to generate an oriented bounding box from a mesh. More...
Public Types inherited from BVFactory< OBB< double > >
typedef rw::core::Ptr< BVFactory< OBB< double > > >	Ptr
	Smart pointer type to BVFactory<BV>.

Public Member Functions
	OBBFactory (FitMethod method=DITO14)
	Constructor. More...
virtual	~OBBFactory ()
	Destructor.
virtual rw::geometry::OBB< T >	makeBV (rw::geometry::TriMesh &geom)
	Create a bounding volume for a triangle mesh. More...
rw::geometry::OBB< T >	makeBV (rw::geometry::GeometryData &geom)
	Create a bounding volume for any type of geometry. More...
rw::geometry::OBB< T >	makeBV (rw::geometry::Primitive &geom)
	Create a bounding volume for a primitive. More...
rw::geometry::OBB< T >	makeDITO (const rw::geometry::TriMesh &mesh) const
rw::geometry::OBB< T >	makeBV (rw::geometry::Shell &geom)
	Create a bounding volume for a shell. More...
rw::geometry::OBB< T >	makePCA (const rw::geometry::TriMesh &mesh) const
	computes covariance over vertices in mesh and calculates the eigen vectors of the covariance and use this as axes in the bounding box More...
rw::geometry::OBB< T >	makePCAHull (const rw::geometry::TriMesh &mesh) const
	computes covariance over the vertices of the convex hull of the mesh and calculates the eigen vectors of the covariance and use this as axes in the bounding box More...
Public Member Functions inherited from BVFactory< OBB< double > >
virtual	~BVFactory ()
	Destructor.

Additional Inherited Members
Protected Member Functions inherited from BVFactory< OBB< double > >
	BVFactory ()
	Constructor.

Detailed Description

template<class T = double>
class rw::geometry::OBBFactory< T >

factory for computing tight fitting Oriented Bounding Boxes.

Member Enumeration Documentation

FitMethod

enum FitMethod

The supported methods to generate an oriented bounding box from a mesh.

Enumerator
PCA	Principal Component Analysis.
PCAHull	Principal Component Analysis Hull.
DITO14	Ditretahedron method with 14 selected vertices.

Constructor & Destructor Documentation

OBBFactory()

OBBFactory ( FitMethod  method = DITO14 )

inline

Constructor.

Parameters

method

[in] (optional) the method to use. Default is the DITO14 method.

Member Function Documentation

makeBV() [1/4]

rw::geometry::OBB<T> makeBV ( rw::geometry::GeometryData &  geom )

inlinevirtual

Create a bounding volume for any type of geometry.

Parameters

geom	[in/out] the geometry to create bounding volume for.

Returns

the bounding volume.

Implements BVFactory< OBB< double > >.

makeBV() [2/4]

rw::geometry::OBB<T> makeBV ( rw::geometry::Primitive &  geom )

inlinevirtual

Create a bounding volume for a primitive.

Parameters

geom	[in/out] the primitive to create bounding volume for.

Returns

the bounding volume.

Implements BVFactory< OBB< double > >.

makeBV() [3/4]

rw::geometry::OBB<T> makeBV ( rw::geometry::Shell &  geom )

inlinevirtual

Create a bounding volume for a shell.

Parameters

geom	[in/out] the shell to create bounding volume for.

Returns

the bounding volume.

Implements BVFactory< OBB< double > >.

makeBV() [4/4]

virtual rw::geometry::OBB<T> makeBV ( rw::geometry::TriMesh &  geom )

inlinevirtual

Create a bounding volume for a triangle mesh.

Parameters

geom	[in/out] the mesh to create bounding volume for.

Returns

the bounding volume.

Implements BVFactory< OBB< double > >.

makePCA()

rw::geometry::OBB< T > makePCA

(

const rw::geometry::TriMesh &

mesh

)

const

computes covariance over vertices in mesh and calculates the eigen vectors of the covariance and use this as axes in the bounding box

Parameters

mesh	[in] the triangle mesh to create oriented bounding box for.

Returns

a tight fitting bounding box

makePCAHull()

rw::geometry::OBB< T > makePCAHull

(

const rw::geometry::TriMesh &

mesh

)

const

computes covariance over the vertices of the convex hull of the mesh and calculates the eigen vectors of the covariance and use this as axes in the bounding box

Parameters

mesh	[in] the triangle mesh to create oriented bounding box for.

Returns

a tight fitting bounding box

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

• OBBFactory.hpp