A tetrahedral bounding region in workspace. More...

#include <TetrahedralBoundary.h>

Inheritance diagram for TetrahedralBoundary:

Collaboration diagram for TetrahedralBoundary:

[legend]

Public Member Functions
virtual void	SetCenter (const std::vector< double > &_c) noexcept override

virtual void	Translate (const Vector3d &_v) override

virtual void	Translate (const std::vector< double > &_t) override

virtual void	ResetBoundary (const std::vector< std::pair< double, double >> &_bbx, const double _margin) override

Construction
	TetrahedralBoundary (const std::array< Point3d, 4 > &_pts, const bool _check=true)

	TetrahedralBoundary (const std::vector< Point3d > &_pts, const bool _check=true)

	TetrahedralBoundary (XMLNode &_node)

virtual std::unique_ptr< Boundary >	Clone () const override

virtual	~TetrahedralBoundary () noexcept

Property Accessors
virtual Boundary::Space	Type () const noexcept override
	Get the space type. More...

virtual std::string	Name () const noexcept override
	Get the name of the boundary type. More...

virtual size_t	GetDimension () const noexcept override
	Get the dimension of this boundary. More...

virtual double	GetMaxDist (const double _r1=2., const double _r2=.5) const override

virtual const Range< double > &	GetRange (const size_t _i) const override

virtual const std::vector< double > &	GetCenter () const noexcept override
	Get the boundary's center point. More...

virtual double	GetVolume () const noexcept override
	Get the boundary's volume (Lebesgue Measure). More...

Sampling
virtual std::vector< double >	GetRandomPoint () const override
	Get a random point inside the boundary. More...

virtual void	PushInside (std::vector< double > &_sample) const noexcept override

Containment Testing
virtual bool	InBoundary (const Vector3d &_p) const override

virtual bool	InBoundary (const std::vector< double > &_v) const override

virtual bool	InBoundary (const Cfg &_c) const override

Clearance Testing
virtual double	GetClearance (const Vector3d &_p) const override

virtual Vector3d	GetClearancePoint (const Vector3d &_p) const override

I/O
virtual void	Read (std::istream &_is, CountingStreamBuffer &_cbs) override

virtual void	Write (std::ostream &_os) const override

CGAL Representation
virtual CGALPolyhedron	CGAL () const override
	Create a CGAL polyhedron representation of this. More...

virtual GMSPolyhedron	MakePolyhedron () const override

Public Member Functions inherited from Boundary
virtual void	ScalePoint (std::vector< double > &_point) const noexcept

virtual void	UnscalePoint (std::vector< double > &_point) const noexcept

virtual	~Boundary () noexcept

Protected Member Functions
Helpers
void	OrderPoints () noexcept
	Check that the points are in the correct order and fix if necessary. More...

std::array< Vector3d, 6 >	ComputeEdges () const

std::array< Vector3d, 4 >	ComputeNormals () const
	Compute the normals. The first three are for faces touched by point 0. More...

NBox	ComputeBBX () const
	Compute the bounding box. More...

double	ComputeVolume () const
	Compute the volume. More...

Protected Member Functions inherited from Boundary
bool	InWorkspace (const Cfg &_c) const

bool	InCSpace (const Cfg &_c) const

Protected Attributes
Internal State
std::array< Point3d, 4 >	m_points
	The vertices of the tetrahedron. More...

std::array< Vector3d, 4 >	m_normals
	The normals of the tetrahedron. More...

NBox	m_bbx {3}
	The bounding box of the tetrahedron. More...

double	m_volume {0}
	The volume of the tetrahedron. More...

Friends
std::ostream &	operator<< (std::ostream &_os, const TetrahedralBoundary &_b)

Additional Inherited Members
Public Types inherited from Boundary
enum	Space { Workspace , CSpace }
	The types of space that can be modeled with boundaries. More...

typedef CGAL::Exact_predicates_exact_constructions_kernel	CGALKernel

typedef CGAL::Polyhedron_3< CGALKernel >	CGALPolyhedron

Static Public Member Functions inherited from Boundary
static std::unique_ptr< Boundary >	Factory (XMLNode &_node)

Detailed Description

A tetrahedral bounding region in workspace.

Constructor & Destructor Documentation

◆ TetrahedralBoundary() [1/3]

TetrahedralBoundary::TetrahedralBoundary	(	const std::array< Point3d, 4 > &	_pts,
		const bool	_check = `true`
	)

explicit

Construct a TetrahedralBoundary from four points.

Parameters

_pts	The points to use.
_check	Check that the points are correct?

If no check is used, the first three points must form an outward-facing facet using the right-hand rule as shown.

/|\ / | \ 2–|–3 \ | / |/ 0

◆ TetrahedralBoundary() [2/3]

TetrahedralBoundary::TetrahedralBoundary	(	const std::vector< Point3d > &	_pts,
		const bool	_check = `true`
	)

explicit

◆ TetrahedralBoundary() [3/3]

TetrahedralBoundary::TetrahedralBoundary ( XMLNode & _node )

◆ ~TetrahedralBoundary()

TetrahedralBoundary::~TetrahedralBoundary ( )

virtualdefaultnoexcept

Member Function Documentation

◆ CGAL()

Boundary::CGALPolyhedron TetrahedralBoundary::CGAL ( ) const

overridevirtual

Create a CGAL polyhedron representation of this.

The first three points must form an outward-facing facet.

Reimplemented from Boundary.

◆ Clone()

std::unique_ptr< Boundary > TetrahedralBoundary::Clone ( ) const

overridevirtual

Duplicate this boundary and return a dynamically-allocated copy with the same type. This is provided in the base class so that we can copy a boundary object without knowing its type.

Returns: A dynamically-allocated copy of this with the same type.

Implements Boundary.

◆ ComputeBBX()

NBox TetrahedralBoundary::ComputeBBX ( ) const

protected

Compute the bounding box.

◆ ComputeEdges()

std::array< Vector3d, 6 > TetrahedralBoundary::ComputeEdges ( ) const

protected

Compute the edges. The resulting vectors point from lower-index points higher-index points.

◆ ComputeNormals()

std::array< Vector3d, 4 > TetrahedralBoundary::ComputeNormals ( ) const

protected

Compute the normals. The first three are for faces touched by point 0.

◆ ComputeVolume()

double TetrahedralBoundary::ComputeVolume ( ) const

protected

Compute the volume.

◆ GetCenter()

const std::vector< double > & TetrahedralBoundary::GetCenter ( ) const

overridevirtualnoexcept

Get the boundary's center point.

Implements Boundary.

◆ GetClearance()

double TetrahedralBoundary::GetClearance ( const Vector3d & _p ) const

overridevirtual

Get the distance from a test point to the nearest point on the boundary.

Parameters

_p	The test point.

Returns: The distance from _p to the clearance point of _p.

Implements Boundary.

◆ GetClearancePoint()

Vector3d TetrahedralBoundary::GetClearancePoint ( const Vector3d & _p ) const

overridevirtual

Get the nearest point on the boundary to a test point.

Parameters

_p	The test point.

Returns: The point on this boundary nearest to _p.

Implements Boundary.

◆ GetDimension()

size_t TetrahedralBoundary::GetDimension ( ) const

overridevirtualnoexcept

Get the dimension of this boundary.

Implements Boundary.

◆ GetMaxDist()

double TetrahedralBoundary::GetMaxDist	(	const double	_r1 = `2.`,
		const double	_r2 = `.5`
	)		const

overridevirtual

Get the longest distance contained within the boundary. Supports any Minkowski distance.

Parameters

_r1	The term-wise power in the Minkowski difference.
_r2	The whole expression power in the Minkowski difference.

Implements Boundary.

◆ GetRandomPoint()

std::vector< double > TetrahedralBoundary::GetRandomPoint ( ) const

overridevirtual

Get a random point inside the boundary.

Implements Boundary.

◆ GetRange()

const Range< double > & TetrahedralBoundary::GetRange ( const size_t _i ) const

overridevirtual

Get the boundary range for a specific dimension.

Parameters

_i	The dimension index.

Returns: The range of values spanned by this boundary in dimension _i.

Implements Boundary.

◆ GetVolume()

double TetrahedralBoundary::GetVolume ( ) const

overridevirtualnoexcept

Get the boundary's volume (Lebesgue Measure).

Implements Boundary.

◆ InBoundary() [1/3]

bool TetrahedralBoundary::InBoundary ( const Cfg & _c ) const

overridevirtual

Test if a configuration lies within the boundary.

Parameters

_cfg	The configuration to test.

Returns: True if the configuration is considered to lie inside the boundary.

Implements Boundary.

◆ InBoundary() [2/3]

bool TetrahedralBoundary::InBoundary ( const std::vector< double > & _v ) const

overridevirtual

Test if a specific n-dimensional point lies within the boundary.

Parameters

_v	The point to test.

Returns: True if _v lies inside this boundary.

Implements Boundary.

◆ InBoundary() [3/3]

bool TetrahedralBoundary::InBoundary ( const Vector3d & _p ) const

overridevirtual

Test if a specific point lies within the boundary.

Parameters

_p	The point to test.

Returns: True if _p lies inside this boundary.

Reimplemented from Boundary.

◆ MakePolyhedron()

GMSPolyhedron TetrahedralBoundary::MakePolyhedron ( ) const

overridevirtual

Create a GMSPolyhedron representation of this. The polyhedron will be inside-out (normals facing inward) to properly represent the contact normals.

Reimplemented from Boundary.

◆ Name()

std::string TetrahedralBoundary::Name ( ) const

overridevirtualnoexcept

Get the name of the boundary type.

Implements Boundary.

◆ OrderPoints()

void TetrahedralBoundary::OrderPoints ( )

protectednoexcept

Check that the points are in the correct order and fix if necessary.

◆ PushInside()

void TetrahedralBoundary::PushInside ( std::vector< double > & _point ) const

overridevirtualnoexcept

Minimally push a point so that it lies within the boundary.

Parameters

_point The point to push.

Implements Boundary.

◆ Read()

void TetrahedralBoundary::Read	(	std::istream &	_is,
		CountingStreamBuffer &	_cbs
	)

overridevirtual

Read in a boundary.

Parameters

_is	The input stream to read from.
_cbs	The counting stream buffer for keeping track of where we are in the input stream.

Implements Boundary.

◆ ResetBoundary()

void TetrahedralBoundary::ResetBoundary	(	const std::vector< std::pair< double, double >> &	_bbx,
		const double	_margin
	)

overridevirtual

Resize the boundary to fit inside a bounding box plus some margin.

Parameters

_bbx	The new base bounding box.
_margin	The additional margin for _bbx. Negative margins cause shrinkage.

Implements Boundary.

◆ SetCenter()

void TetrahedralBoundary::SetCenter ( const std::vector< double > & _c )

overridevirtualnoexcept

Move the boundary to a new center point.

Parameters

_c	The new center point for the boundary.

Implements Boundary.

◆ Translate() [1/2]

void TetrahedralBoundary::Translate ( const std::vector< double > & _t )

overridevirtual

Translate the boundary.

Parameters

_t	The offset to apply.

Implements Boundary.

◆ Translate() [2/2]

void TetrahedralBoundary::Translate ( const Vector3d & _v )

overridevirtual

Translate the boundary.

Parameters

_v	The offset to apply.

Implements Boundary.

◆ Type()

Boundary::Space TetrahedralBoundary::Type ( ) const

overridevirtualnoexcept

Get the space type.

Implements Boundary.

◆ Write()

void TetrahedralBoundary::Write ( std::ostream & _os ) const

overridevirtual

Write out a boundary.

Parameters

_os	The output stream to write to.

Implements Boundary.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	_os,
		const TetrahedralBoundary &	_b
	)

friend

Field Documentation

◆ m_bbx

NBox TetrahedralBoundary::m_bbx {3}

protected

The bounding box of the tetrahedron.

◆ m_normals

std::array<Vector3d, 4> TetrahedralBoundary::m_normals

protected

The normals of the tetrahedron.

◆ m_points

std::array<Point3d, 4> TetrahedralBoundary::m_points

protected

The vertices of the tetrahedron.

◆ m_volume

double TetrahedralBoundary::m_volume {0}

protected

The volume of the tetrahedron.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Boundaries/TetrahedralBoundary.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Boundaries/TetrahedralBoundary.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TetrahedralBoundary() [1/3]

◆ TetrahedralBoundary() [2/3]

◆ TetrahedralBoundary() [3/3]

◆ ~TetrahedralBoundary()

Member Function Documentation

◆ CGAL()

◆ Clone()

◆ ComputeBBX()

◆ ComputeEdges()

◆ ComputeNormals()

◆ ComputeVolume()

◆ GetCenter()

◆ GetClearance()

◆ GetClearancePoint()

◆ GetDimension()

◆ GetMaxDist()

◆ GetRandomPoint()

◆ GetRange()

◆ GetVolume()

◆ InBoundary() [1/3]

◆ InBoundary() [2/3]

◆ InBoundary() [3/3]

◆ MakePolyhedron()

◆ Name()

◆ OrderPoints()

◆ PushInside()

◆ Read()

◆ ResetBoundary()

◆ SetCenter()

◆ Translate() [1/2]

◆ Translate() [2/2]

◆ Type()

◆ Write()

Friends And Related Function Documentation

◆ operator<<

Field Documentation

◆ m_bbx

◆ m_normals

◆ m_points

◆ m_volume