CSGModel Class Reference

A CSG (Constructive Solid Geometry) model representation. More...

#include <CSGModel.hpp>

Public Types
typedef rw::core::Ptr< CSGModel >	Ptr
	Smart pointer type for CSGModel.

Public Member Functions
	CSGModel ()
	Constructor.
virtual	~CSGModel ()
	Destructor.
	CSGModel (const CSGModel &csgmodel)
	Copy constructor. More...
	CSGModel (const rw::geometry::TriMesh &trimesh)
	Constructs CSGModel from TriMesh.
void	translate (float x, float y, float z)
	Translates the model.
void	rotate (float r, float p, float y)
	Rotates the model.
void	transform (const rw::math::Transform3D<> &T)
	Applies RobWork transformation to the model.
void	add (CSGModel::Ptr model)
	Adds a volume.
void	subtract (CSGModel::Ptr model)
	Subtracts a volume.
void	intersect (CSGModel::Ptr model)
	Intersects volumes.
rw::geometry::TriMesh::Ptr	getTriMesh ()
	Returns RobWork geometry representation.
void	saveToStl (const std::string &filename)
	Saves the CSGModel in Stl format.

Protected Member Functions
void	_convertToTriMesh ()
	Converts internal csgjs geometry representation to TriMesh.

Protected Attributes
bool	_needsConversion
rw::core::Ptr< csgjs_model >	_model
rw::geometry::TriMesh::Ptr	_mesh

Detailed Description

A CSG (Constructive Solid Geometry) model representation.

Defines operators to perform addition, difference, and intersection operations on solids, as well as utility functions to construct geometry based on primitives, translate and rotate models, and convert them to and from RobWork represntations.

Constructor & Destructor Documentation

CSGModel()

CSGModel

(

const CSGModel &

csgmodel

)

Copy constructor.

Parameters

csgmodel

[in] other CSGModel to copy.

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

• CSGModel.hpp