Drake
Mesh Class Reference

#include <drake/systems/plants/shapes/Geometry.h>

Inheritance diagram for Mesh:
Collaboration diagram for Mesh:

Public Member Functions

 Mesh (const std::string &uri, const std::string &resolved_filename)
 Constructs a representation of a mesh to be loaded from resolved_filename. More...
 
virtual ~Mesh ()
 
virtual Meshclone () const
 
virtual void getPoints (Eigen::Matrix3Xd &points) const
 
virtual void getBoundingBoxPoints (Eigen::Matrix3Xd &points) const
 
bool extractMeshVertices (Eigen::Matrix3Xd &vertex_coordinates) const
 
void LoadObjFile (PointsVector *vertices, TrianglesVector *triangles) const
 Loads triangle mesh from an obj file into the provided vectors of vertices and triangles. More...
 
- Public Member Functions inherited from Geometry
 Geometry ()
 
 Geometry (const Geometry &other)
 
virtual ~Geometry ()
 
Shape getShape () const
 
virtual void getTerrainContactPoints (Eigen::Matrix3Xd &points) const
 

Public Attributes

Eigen::Vector3d scale_
 
std::string uri_
 
std::string resolved_filename_
 

Friends

DRAKESHAPES_EXPORT std::ostream & operator<< (std::ostream &, const Mesh &)
 A toString method for this class. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Geometry
 Geometry (Shape shape)
 
void getBoundingBoxPoints (double x_half_width, double y_half_width, double z_half_width, Eigen::Matrix3Xd &points) const
 
- Protected Attributes inherited from Geometry
Shape shape
 
- Static Protected Attributes inherited from Geometry
static const int NUM_BBOX_POINTS = 8
 

Constructor & Destructor Documentation

Mesh ( const std::string &  uri,
const std::string &  resolved_filename 
)

Constructs a representation of a mesh to be loaded from resolved_filename.

uri provides a unique identifier used to interact with BotVisualizer.

Here is the caller graph for this function:

virtual ~Mesh ( )
inlinevirtual

Here is the call graph for this function:

Member Function Documentation

Mesh * clone ( ) const
virtual

Reimplemented from Geometry.

Here is the call graph for this function:

bool extractMeshVertices ( Eigen::Matrix3Xd &  vertex_coordinates) const

Here is the caller graph for this function:

void getBoundingBoxPoints ( Eigen::Matrix3Xd &  points) const
virtual

Reimplemented from Geometry.

Here is the call graph for this function:

void getPoints ( Eigen::Matrix3Xd &  points) const
virtual

Reimplemented from Geometry.

Here is the call graph for this function:

void LoadObjFile ( PointsVector vertices,
TrianglesVector triangles 
) const

Loads triangle mesh from an obj file into the provided vectors of vertices and triangles.

Parameters
[out]verticesVector of 3D vertices in the mesh.
[out]trianglesVector of indices for each triangle in the mesh. The i-th entry of triangles holds a 3D vector of integer indices into vertices corresponding to the vertices forming the i-th triangle.

On output, vertices.size() corresponds to the number of vertices in the mesh while triangles.size() corresponds to the number of triangles in the mesh.

Here is the call graph for this function:

Here is the caller graph for this function:

Friends And Related Function Documentation

DRAKESHAPES_EXPORT std::ostream& operator<< ( std::ostream &  out,
const Mesh mm 
)
friend

A toString method for this class.

Member Data Documentation

std::string resolved_filename_
Eigen::Vector3d scale_
std::string uri_

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