Pyramid Class Reference

a pyrimidal geometric primitive. The pyramid has a rectangular base in the xy-plane and its end pointed lie in the z-axis with a distance from the xy-plane. More...

#include <Pyramid.hpp>

Inherits Primitive.

Public Member Functions
	Pyramid (const rw::math::Q &initQ)
	constructor
	Pyramid (double widthx, double widthy, double height)
	constructor More...
virtual	~Pyramid ()
	destructor
TriMesh::Ptr	createMesh (int resolution) const
	make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into More...
virtual rw::math::Q	getParameters () const
	get the parameters that define this primitive More...
virtual void	setParameters (const rw::math::Q &q)
	set the parameters that define this primitive More...
GeometryType	getType () const
	the type of this primitive More...
Public Member Functions inherited from Primitive
virtual	~Primitive ()
	destructor
TriMesh::Ptr	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...
virtual bool	isConvex ()
	test if this geometry data is convex More...
bool	isInside (const rw::math::Vector3D< double > &point)
	test if a point is on the border or inside this primitive
Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Protected Member Functions
bool	doIsInside (const rw::math::Vector3D< double > &point)
	Check if point lies inside geometry. More...
Protected Member Functions inherited from Primitive
	Primitive (int levels=20)
	Constructor. More...

Additional Inherited Members
Public Types inherited from Primitive
typedef rw::core::Ptr< Primitive >	Ptr
	Smart pointer to this type of class.
Public Types inherited from GeometryData
enum	GeometryType {   PointCloud , LineMesh , PlainTriMesh , IdxTriMesh ,   SpherePrim , BoxPrim , OBBPrim , AABBPrim ,   LinePrim , PointPrim , PyramidPrim , ConePrim ,   TrianglePrim , CylinderPrim , TubePrim , PlanePrim ,   RayPrim , Implicit , Quadratic , UserType }
	geometry data types
typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class
Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Detailed Description

a pyrimidal geometric primitive. The pyramid has a rectangular base in the xy-plane and its end pointed lie in the z-axis with a distance from the xy-plane.

Constructor & Destructor Documentation

Pyramid()

Pyramid	(	double	widthx,
		double	widthy,
		double	height
	)

constructor

Parameters

widthx	[in] width of pyramid in x axis
widthy	[in] width of pyramid in y-axis
height	[in] height of pyramid in z-axis

Member Function Documentation

createMesh()

TriMesh::Ptr createMesh ( int  resolution ) const

virtual

make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into

Parameters

resolution

[in]

Implements Primitive.

doIsInside()

bool doIsInside ( const rw::math::Vector3D< double > &  point )

protectedvirtual

Check if point lies inside geometry.

Parameters

point

[in] point to check.

Returns

true if inside geometry, false otherwise.

Reimplemented from Primitive.

getParameters()

virtual rw::math::Q getParameters ( ) const

virtual

get the parameters that define this primitive

Implements Primitive.

getType()

GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

setParameters()

virtual void setParameters ( const rw::math::Q &  q )

virtual

set the parameters that define this primitive

Implements Primitive.

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

• Pyramid.hpp