Mesh Class Reference

Detailed Description

Definition of a general (possibly non-convex) triangular surface mesh.

Meshes can be used for illustration and perception roles, but have limited proximity support. See the documentation of QueryObject's proximity queries to see how meshes are used in each type of proximity query.

The mesh is defined in a canonical frame C, implicit in the file parsed. Upon loading it in SceneGraph it can be scaled around the origin of C by a given scale amount.

#include <drake/geometry/shape_specification.h>

Public Member Functions
	Mesh (const std::string &absolute_filename, double scale=1.0)
	Constructs a mesh specification from the mesh file located at the given absolute file path. More...
const std::string &	filename () const
double	scale () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Mesh (const Mesh &)=default
Mesh &	operator= (const Mesh &)=default
	Mesh (Mesh &&)=default
Mesh &	operator= (Mesh &&)=default
Public Member Functions inherited from Shape
virtual	~Shape ()
void	Reify (ShapeReifier *reifier, void *user_data=nullptr) const
	Causes this description to be reified in the given reifier. More...
std::unique_ptr< Shape >	Clone () const
	Creates a unique copy of this shape. More...

Additional Inherited Members
Protected Member Functions inherited from Shape
template<typename S >
	Shape (ShapeTag< S > tag)
	Constructor available for derived class construction. More...
	Shape (const Shape &)=default
Shape &	operator= (const Shape &)=default
	Shape (Shape &&)=default
Shape &	operator= (Shape &&)=default

Constructor & Destructor Documentation

Mesh() [1/3]

Mesh ( const Mesh &  )

default

Mesh() [2/3]

Mesh ( Mesh &&  )

default

Mesh() [3/3]

Mesh ( const std::string &  absolute_filename, double  scale = 1.0  )

explicit

Constructs a mesh specification from the mesh file located at the given absolute file path.

Optionally uniformly scaled by the given scale factor.

Exceptions

std::exception

if |scale| < 1e-8. Note that a negative scale is considered valid. We want to preclude scales near zero but recognise that scale is a convenience tool for "tweaking" models. 8 orders of magnitude should be plenty without considering revisiting the model itself.

Member Function Documentation

filename()

const std::string& filename

(

)

const

operator=() [1/2]

Mesh& operator= ( Mesh &&  )

default

operator=() [2/2]

Mesh& operator= ( const Mesh &  )

default

scale()

double scale

(

)

const

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

• drake/geometry/shape_specification.h