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RigidBodyMeshPoints Class Reference

RigidBodyMeshPoints Represents the convex hull of a set of points This class allows for the programatic creation of geometries consisting of the convex hull of a set of points. More...

Inheritance diagram for RigidBodyMeshPoints:
Collaboration diagram for RigidBodyMeshPoints:

Public Member Functions

function RigidBodyMeshPoints (points)
 
function getPoints (obj)
 
function serializeToLCM (obj)
 
function writeWRLShape (obj, fp, td)
 
- Public Member Functions inherited from RigidBodyMesh
function RigidBodyMesh (filename, varargin)
 obj = RigidBodyMesh(filename) constructs a RigidBodyMesh object with the geometry-to-body transform set to identity. More...
 
function loadFile (obj)
 
function getBoundingBoxPoints (obj)
 Return axis-aligned bounding-box vertices. More...
 
function getPoints (obj)
 assert(all(obj.scale == 1)); % todo: handle this case More...
 
function convertToWRL (geom)
 
function convertToOBJ (geom)
 
function serializeToLCM (obj)
 
function writeWRLShape (obj, fp, td)
 
- Public Member Functions inherited from RigidBodyGeometry
function RigidBodyGeometry (drake_shape_id, varargin)
 obj = RigidBodyGeometry(drake_shape_id) constructs a RigidBodyGeometry object with the geometry-to-body transform set to identity. More...
 
function getPatchData (obj, x_axis, y_axis, view_axis)
 output is compatible with patch for 2D viewing still returns a 3xn, but the z-axis is constant (just meant for depth ordering in the 2d figure) More...
 
function getTerrainContactPoints (obj)
 pts = getTerrainContactPoints(obj) returns the terrain contact points on this object (in body-frame). More...
 
function setColor (obj, color)
 Sets the color of the geometry for drawing. More...
 
function draw (obj, model, kinsol, body_ind)
 intentionally left blank, can be overloaded More...
 
- Public Member Functions inherited from RigidBodyElement
function bindParams (body, model, pval)
 Bind parameters from msspolys to doubles. More...
 

Public Attributes

Property points
 
- Public Attributes inherited from RigidBodyMesh
Property filename
 
Property scale
 
- Public Attributes inherited from RigidBodyGeometry
Property T
 coordinate transform (from geometry to link coordinates) More...
 
Property c
 look like: [ R x ] [ zeros(1,3) 1 ] More...
 
Property drake_shape_id
 UNKNOWN. More...
 
Property name
 
- Public Attributes inherited from RigidBodyElement
Property param_bindings
 structure containing msspoly parameterized representations of some properties More...
 

Additional Inherited Members

- Static Public Member Functions inherited from RigidBodyGeometry
static function parseURDFNode (node, x0, rpy, model, robotnum, options)
 
static function parseSDFNode (node, x0, rpy, model, robotnum, options)
 

Detailed Description

RigidBodyMeshPoints Represents the convex hull of a set of points This class allows for the programatic creation of geometries consisting of the convex hull of a set of points.

Visualization is not yet supported for this class.

RigidBodyMeshPoints properties: points - 3 x m array in which the i-th column specifies the location of the i-th point in body-frame.

See also RigidBodyGeometry, RigidBodyMesh

Constructor & Destructor Documentation

function RigidBodyMeshPoints ( points  )
Return values
obj

Member Function Documentation

function getPoints ( obj  )
Return values
points
function serializeToLCM ( obj  )
Return values
msg
function writeWRLShape ( obj  ,
fp  ,
td   
)

Member Data Documentation

Property points

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