Package org.robwork.sdurw_geometry

Class ImplicitSurface

java.lang.Object

org.robwork.sdurw_geometry.ImplicitSurface

public class ImplicitSurface
extends java.lang.Object

Interface for implicit surfaces. An implicit surface is given by an
expression of the form F(\mathbf{x})=0, \mathbf{x} \in \mathbb{R}^3.

Constructor Summary

Constructors

Constructor	Description
ImplicitSurface(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
double	call(Vector3D in)
ImplicitSurfacePtr	clone()
void	delete()
pair_d_d	extremums(Vector3D direction)
static long	getCPtr(ImplicitSurface obj)
TriMeshPtr	getTriMesh()
TriMeshPtr	getTriMesh(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t border)
Vector3D	gradient(Vector3D x)
boolean	insideTrimmingRegion(Vector3D P)	Check if point, P, on surface lies inside the trimming region.
Vector3D	normal(Vector3D x)
void	reuseTrimmingRegions(ImplicitSurfacePtr surface)	Let other surface reuse this surfaces trimming regions, if there are identical region definitions. This allows for some implementations to save a small amount of memory.
ImplicitSurfacePtr	scale(double factor)
void	setDiscretizationResolution(double resolution)
boolean	SurfaceEqual(Surface surface, double threshold)
ImplicitSurfacePtr	transform(Transform3D T)	rw::math::Transform3D<double>&) const
ImplicitSurfacePtr	transform(Vector3D P)	rw::math::Vector3D<double>&) const

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ImplicitSurface

public ImplicitSurface(long cPtr,
                       boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(ImplicitSurface obj)

delete

public void delete()

transform

public ImplicitSurfacePtr transform(Transform3D T)

rw::math::Transform3D<double>&) const

transform

public ImplicitSurfacePtr transform(Vector3D P)

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

scale

public ImplicitSurfacePtr scale(double factor)

clone

public ImplicitSurfacePtr clone()

extremums

public pair_d_d extremums(Vector3D direction)

getTriMesh

public TriMeshPtr getTriMesh(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t border)

getTriMesh

public TriMeshPtr getTriMesh()

setDiscretizationResolution

public void setDiscretizationResolution(double resolution)

SurfaceEqual

public boolean SurfaceEqual(Surface surface,
                            double threshold)

call

public double call(Vector3D in)

insideTrimmingRegion

public boolean insideTrimmingRegion(Vector3D P)

Check if point, P, on surface lies inside the trimming region.

Parameters:

P - [in] the point to check.

Returns:

true if the points lies inside the trimming region.

normal

public Vector3D normal(Vector3D x)

gradient

public Vector3D gradient(Vector3D x)

reuseTrimmingRegions

public void reuseTrimmingRegions(ImplicitSurfacePtr surface)

Let other surface reuse this surfaces trimming regions,
if there are identical region definitions.

This allows for some implementations to save a small amount of memory.

Parameters:

surface - [in/out] the other surface.