Package org.robwork.sdurw_geometry

Class ImplicitTorus

java.lang.Object

org.robwork.sdurw_geometry.ImplicitTorus

public class ImplicitTorus
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
ImplicitTorus(double R, double r)	Construct circular torus.
ImplicitTorus(double R1, double R2, double r1, double r2)	Construct elliptic torus.
ImplicitTorus(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	addTrimmingCondition(ImplicitSurfaceCPtr condition)	Add a trimming condition to this surface.
double	call(Vector3D in)
ImplicitTorusPtr	clone()
void	delete()
pair_d_d	extremums(Vector3D direction)
static long	getCPtr(ImplicitTorus obj)
TriMeshPtr	getTriMesh()
TriMeshPtr	getTriMesh(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t border)
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__ImplicitSurface_const_t_t	getTrimmingConditions()	Get the trimming conditions for the surface.
Vector3D	gradient(Vector3D x)
boolean	insideTrimmingRegion(Vector3D P)
Vector3D	normal(Vector3D x)
void	reuseTrimmingRegions(ImplicitSurfacePtr surface)
ImplicitTorusPtr	scale(double factor)
void	setDiscretizationResolution(double resolution)
void	setTrimmingConditions(SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__ImplicitSurface_const_t_t conditions)	Set the trimming conditions of this surface.
boolean	TorusEqual(Surface surface, double threshold)
ImplicitTorusPtr	transform(Transform3D T)	rw::math::Transform3D<double>&) const
ImplicitTorusPtr	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

ImplicitTorus

public ImplicitTorus(long cPtr,
                     boolean cMemoryOwn)

ImplicitTorus

public ImplicitTorus(double R,
                     double r)

Construct circular torus.

Parameters:

R - [in] distance from center of torus to center of tube.

r - [in] radius of the tube.

ImplicitTorus

public ImplicitTorus(double R1,
                     double R2,
                     double r1,
                     double r2)

Construct elliptic torus.

Parameters:

R1 - [in] distance from center of torus to center of tube in first direction.

R2 - [in] distance from center of torus to center of tube in second direction.

r1 - [in] radius of the tube in first direction.

r2 - [in] radius of the tube in second direction.

Method Detail

getCPtr

public static long getCPtr(ImplicitTorus obj)

delete

public void delete()

transform

public ImplicitTorusPtr transform(Transform3D T)

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

transform

public ImplicitTorusPtr transform(Vector3D P)

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

scale

public ImplicitTorusPtr scale(double factor)

clone

public ImplicitTorusPtr 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)

TorusEqual

public boolean TorusEqual(Surface surface,
                          double threshold)

call

public double call(Vector3D in)

insideTrimmingRegion

public boolean insideTrimmingRegion(Vector3D P)

normal

public Vector3D normal(Vector3D x)

gradient

public Vector3D gradient(Vector3D x)

reuseTrimmingRegions

public void reuseTrimmingRegions(ImplicitSurfacePtr surface)

getTrimmingConditions

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__ImplicitSurface_const_t_t getTrimmingConditions()

Get the trimming conditions for the surface.

Returns:

ImplicitSurface vector specifying the boundary of the surface. If surface is
unbounded, the length of the vector is zero.

setTrimmingConditions

public void setTrimmingConditions(SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__ImplicitSurface_const_t_t conditions)

Set the trimming conditions of this surface.

Parameters:

conditions - [in] a vector of conditions.

addTrimmingCondition

public void addTrimmingCondition(ImplicitSurfaceCPtr condition)

Add a trimming condition to this surface.

Parameters:

condition - [in] the condition to add.