Octree Shape A defined by an octree data structure. More...

#include <SurgSim/Math/OctreeShape.h>

Inheritance diagram for SurgSim::Math::OctreeShape:

Public Types
typedef SurgSim::DataStructures::OctreeNode< SurgSim::DataStructures::EmptyData >	NodeType

Public Types inherited from SurgSim::Math::Shape
typedef ::SurgSim::Math::Vector3d	Vector3d

typedef ::SurgSim::Math::Matrix33d	Matrix33d

typedef SurgSim::Framework::ObjectFactory< SurgSim::Math::Shape >	FactoryType

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Member Functions
	OctreeShape ()
	Constructor. More...

	SURGSIM_CLASSNAME (SurgSim::Math::OctreeShape)

template<class T >
	OctreeShape (const SurgSim::DataStructures::OctreeNode< T > &node)
	Construct an OctreeShape by copying data from an OctreeNode NOTE: The Data stored in the octree node will not be copied into the OctreeShape. More...

virtual	~OctreeShape ()
	Destructor. More...

virtual int	getType () override

virtual double	getVolume () const override
	Get the volume of the shape. More...

virtual Vector3d	getCenter () const override
	Get the volumetric center of the shape. More...

virtual Matrix33d	getSecondMomentOfVolume () const override
	Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix. More...

std::shared_ptr< NodeType >	getRootNode ()
	Get the root node. More...

const std::shared_ptr< const NodeType >	getRootNode () const
	const version to get the root node More...

void	setRootNode (std::shared_ptr< NodeType > node)
	Set the root node. More...

virtual bool	isValid () const override

virtual bool	doLoad (const std::string &filePath) override
	Derived classes will overwrite this method to do actual loading. More...

Public Member Functions inherited from SurgSim::Math::Shape
virtual	~Shape ()

virtual std::string	getClassName () const
	Get class name. More...

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor. More...

	~Accessible ()
	Destructor. More...

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

template<>
boost::any	getValue (const std::string &name) const

Public Member Functions inherited from SurgSim::Framework::Asset
	Asset ()
	Constructor. More...

virtual	~Asset ()
	Destructor. More...

void	load (const std::string &fileName, const SurgSim::Framework::ApplicationData &data)
	Load a file with given name using 'data' as look up path(s). More...

void	load (const std::string &fileName)
	Overloaded function using SurgSim::Framework::Runtime::getApplicationData() as look up path(s). More...

std::string	getFileName () const
	Return the name of file loaded by this class. More...

Private Attributes
std::shared_ptr< NodeType >	m_rootNode
	Root node of the octree datastructure. More...

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Math::Shape
static FactoryType &	getFactory ()

Protected Member Functions inherited from SurgSim::Framework::Asset
void	serializeFileName (SurgSim::Framework::Accessible *accessible)
	Derived classes (which also inherit from SurgSim::Framework::Accessible) should call this function with 'this' pointer as the parameter in their constructors to register file name property for serialization. More...

Detailed Description

Octree Shape A defined by an octree data structure.

Member Typedef Documentation

typedef SurgSim::DataStructures::OctreeNode<SurgSim::DataStructures::EmptyData> SurgSim::Math::OctreeShape::NodeType

Constructor & Destructor Documentation

SurgSim::Math::OctreeShape::OctreeShape ( )

Constructor.

template<class T >

SurgSim::Math::OctreeShape::OctreeShape ( const SurgSim::DataStructures::OctreeNode< T > & node )

explicit

Construct an OctreeShape by copying data from an OctreeNode NOTE: The Data stored in the octree node will not be copied into the OctreeShape.

Template Parameters

T	octree node data structure to build Octree Shape from

Parameters

node	octree node data structure to build Octree Shape from

SurgSim::Math::OctreeShape::~OctreeShape ( )

virtual

Destructor.

Member Function Documentation

bool SurgSim::Math::OctreeShape::doLoad ( const std::string & filePath )

overridevirtual

Derived classes will overwrite this method to do actual loading.

Note: This method is not required to do any check on the validity or the existence of the file.

Parameters

filePath Absolute path to the file.

Returns: True if loading is successful; Otherwise, false.

Implements SurgSim::Framework::Asset.

Vector3d SurgSim::Math::OctreeShape::getCenter ( ) const

overridevirtual

Get the volumetric center of the shape.

Returns: The center of the shape

Implements SurgSim::Math::Shape.

std::shared_ptr< OctreeShape::NodeType > SurgSim::Math::OctreeShape::getRootNode ( )

Get the root node.

Returns: the octree root node of this shape

const std::shared_ptr< const OctreeShape::NodeType > SurgSim::Math::OctreeShape::getRootNode ( ) const

const version to get the root node

Returns: A const reference of the shared pointer, which points to the octree root node of this shape.

Matrix33d SurgSim::Math::OctreeShape::getSecondMomentOfVolume ( ) const

overridevirtual

Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.

Returns: The 3x3 symmetric second moment matrix

Implements SurgSim::Math::Shape.

int SurgSim::Math::OctreeShape::getType ( )

overridevirtual

Returns: the type of shape

Implements SurgSim::Math::Shape.

double SurgSim::Math::OctreeShape::getVolume ( ) const

overridevirtual

Get the volume of the shape.

Returns: The volume of the shape (in m-3)

Implements SurgSim::Math::Shape.

bool SurgSim::Math::OctreeShape::isValid ( ) const

overridevirtual

Returns: True if the bounding box is bigger than or equal to 0; Otherwise, false.

Implements SurgSim::Math::Shape.

void SurgSim::Math::OctreeShape::setRootNode ( std::shared_ptr< NodeType > node )

Set the root node.

Parameters

node	the octree root node of this shape

SurgSim::Math::OctreeShape::SURGSIM_CLASSNAME ( SurgSim::Math::OctreeShape )

Member Data Documentation

std::shared_ptr<NodeType> SurgSim::Math::OctreeShape::m_rootNode

private

Root node of the octree datastructure.

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

SurgSim/Math/OctreeShape.h
SurgSim/Math/OctreeShape-inl.h
SurgSim/Math/OctreeShape.cpp

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation