Mesh represents a mesh shape, and is usually accessed through a Geometry. More...

#include <Mesh.hh>

Public Member Functions
	Mesh ()
	Constructor.

std::optional< gz::math::Inertiald >	CalculateInertial (sdf::Errors &_errors, double _density, const sdf::ElementPtr _autoInertiaParams, const ParserConfig &_config)
	Calculate and return the Inertial values for the Mesh.

bool	CenterSubmesh () const
	Get whether the submesh should be centered at 0,0,0.

const sdf::ConvexDecomposition *	ConvexDecomposition () const
	Get the associated ConvexDecomposition object.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

const std::string &	FilePath () const
	The path to the file where this element was loaded from.

Errors	Load (ElementPtr _sdf)
	Load the mesh geometry based on a element pointer.

Errors	Load (sdf::ElementPtr _sdf, const ParserConfig &_config)
	Load the mesh geometry based on a element pointer.

MeshOptimization	Optimization () const
	Get the mesh's optimization method.

std::string	OptimizationStr () const
	Get the mesh's optimization method.

gz::math::Vector3d	Scale () const
	Get the mesh's scale factor.

void	SetCenterSubmesh (const bool _center)
	Set whether the submesh should be centered.

void	SetConvexDecomposition (const sdf::ConvexDecomposition &_convexDecomposition)
	Set the associated ConvexDecomposition object.

void	SetFilePath (const std::string &_filePath)
	Set the path to the file where this element was loaded from.

bool	SetOptimization (const std::string &_optimizationStr)
	Set the mesh optimization method.

void	SetOptimization (MeshOptimization _optimization)
	Set the mesh optimization method.

void	SetScale (const gz::math::Vector3d &_scale)
	Set the mesh's scale factor.

void	SetSubmesh (const std::string &_submesh)
	Set the mesh's submesh.

void	SetUri (const std::string &_uri)
	Set the mesh's URI.

std::string	Submesh () const
	A submesh, contained with the mesh at the specified URI, may optionally be specified.

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this mesh.

sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this mesh.

std::string	Uri () const
	Get the mesh's URI.

Detailed Description

Mesh represents a mesh shape, and is usually accessed through a Geometry.

Constructor & Destructor Documentation

◆ Mesh()

sdf::SDF_VERSION_NAMESPACE::Mesh::Mesh ( )

Constructor.

Member Function Documentation

◆ CalculateInertial()

std::optional< gz::math::Inertiald > sdf::SDF_VERSION_NAMESPACE::Mesh::CalculateInertial	(	sdf::Errors &	_errors,
		double	_density,
		const sdf::ElementPtr	_autoInertiaParams,
		const ParserConfig &	_config
	)

Calculate and return the Inertial values for the Mesh.

Parameters

[out]	_errors	A vector of Errors object. Each object would contain an error code and an error message.
[in]	_density	Density of the mesh in kg/m^3
[in]	_autoInertiaParams	ElementPtr to <auto_inertia_params> element
[in]	_config	Parser Configuration

Returns: A std::optional with gz::math::Inertiald object or std::nullopt

◆ CenterSubmesh()

bool sdf::SDF_VERSION_NAMESPACE::Mesh::CenterSubmesh ( ) const

Get whether the submesh should be centered at 0,0,0.

This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. The return value is only applicable if a SubMesh has been specified.

Returns: True if the submesh should be centered.

◆ ConvexDecomposition()

const sdf::ConvexDecomposition * sdf::SDF_VERSION_NAMESPACE::Mesh::ConvexDecomposition ( ) const

Get the associated ConvexDecomposition object.

Returns: Pointer to the associated ConvexDecomposition object, nullptr if the Mesh doesn't contain a ConvexDecomposition element.

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Mesh::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ FilePath()

const std::string & sdf::SDF_VERSION_NAMESPACE::Mesh::FilePath ( ) const

The path to the file where this element was loaded from.

Returns: Full path to the file on disk.

◆ Load() [1/2]

Errors sdf::SDF_VERSION_NAMESPACE::Mesh::Load ( ElementPtr _sdf )

Load the mesh geometry based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Load() [2/2]

Errors sdf::SDF_VERSION_NAMESPACE::Mesh::Load	(	sdf::ElementPtr	_sdf,
		const ParserConfig &	_config
	)

Load the mesh geometry based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]	_sdf	The SDF Element pointer
[in]	_config	Parser configuration

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Optimization()

MeshOptimization sdf::SDF_VERSION_NAMESPACE::Mesh::Optimization ( ) const

Get the mesh's optimization method.

Returns: The mesh optimization method. MeshOptimization::NONE if no mesh simplificaton is done.

◆ OptimizationStr()

std::string sdf::SDF_VERSION_NAMESPACE::Mesh::OptimizationStr ( ) const

Get the mesh's optimization method.

Returns: The mesh optimization method. Empty string if no mesh simplificaton is done.

◆ Scale()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::Mesh::Scale ( ) const

Get the mesh's scale factor.

Returns: The mesh's scale factor.

◆ SetCenterSubmesh()

void sdf::SDF_VERSION_NAMESPACE::Mesh::SetCenterSubmesh ( const bool _center )

Set whether the submesh should be centered.

See CenterSubmesh() for more information.

Parameters

[in] _center True to center the submesh.

◆ SetConvexDecomposition()

void sdf::SDF_VERSION_NAMESPACE::Mesh::SetConvexDecomposition ( const sdf::ConvexDecomposition & _convexDecomposition )

Set the associated ConvexDecomposition object.

Parameters

[in] _convexDecomposition The ConvexDecomposition object.

◆ SetFilePath()

void sdf::SDF_VERSION_NAMESPACE::Mesh::SetFilePath ( const std::string & _filePath )

Set the path to the file where this element was loaded from.

\paramp[in] _filePath Full path to the file on disk.

◆ SetOptimization() [1/2]

bool sdf::SDF_VERSION_NAMESPACE::Mesh::SetOptimization ( const std::string & _optimizationStr )

Set the mesh optimization method.

Parameters

[in] _optimization The mesh optimization method.

Returns: True if the _optimizationStr parameter matched a known mesh optimization method. False if the mesh optimization method could not be set.

◆ SetOptimization() [2/2]

void sdf::SDF_VERSION_NAMESPACE::Mesh::SetOptimization ( MeshOptimization _optimization )

Set the mesh optimization method.

Parameters

[in] _optimization The mesh optimization method.

◆ SetScale()

void sdf::SDF_VERSION_NAMESPACE::Mesh::SetScale ( const gz::math::Vector3d & _scale )

Set the mesh's scale factor.

Returns: The mesh's scale factor.

◆ SetSubmesh()

void sdf::SDF_VERSION_NAMESPACE::Mesh::SetSubmesh ( const std::string & _submesh )

Set the mesh's submesh.

See Submesh() for more information.

Parameters

[in] _submesh Name of the submesh. The name should match a submesh within the mesh at the specified URI.

◆ SetUri()

void sdf::SDF_VERSION_NAMESPACE::Mesh::SetUri ( const std::string & _uri )

Set the mesh's URI.

Parameters

[in] _uri The URI of the mesh.

◆ Submesh()

std::string sdf::SDF_VERSION_NAMESPACE::Mesh::Submesh ( ) const

A submesh, contained with the mesh at the specified URI, may optionally be specified.

If specified, this submesh should be used instead of the entire mesh.

Returns: The name of the submesh within the mesh at the specified URI.

◆ ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Mesh::ToElement ( ) const

Create and return an SDF element filled with data from this mesh.

Note that parameter passing functionality is not captured with this function.

Returns: SDF element pointer with updated mesh values.

◆ ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Mesh::ToElement ( sdf::Errors & _errors ) const

Create and return an SDF element filled with data from this mesh.

Note that parameter passing functionality is not captured with this function.

Parameters

[out] _errors Vector of errors.

Returns: SDF element pointer with updated mesh values.

◆ Uri()

std::string sdf::SDF_VERSION_NAMESPACE::Mesh::Uri ( ) const

Get the mesh's URI.

Returns: The URI of the mesh data.

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

Mesh.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Mesh()

Member Function Documentation

◆ CalculateInertial()

◆ CenterSubmesh()

◆ ConvexDecomposition()

◆ Element()

◆ FilePath()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Optimization()

◆ OptimizationStr()

◆ Scale()

◆ SetCenterSubmesh()

◆ SetConvexDecomposition()

◆ SetFilePath()

◆ SetOptimization() [1/2]

◆ SetOptimization() [2/2]

◆ SetScale()

◆ SetSubmesh()

◆ SetUri()

◆ Submesh()

◆ ToElement() [1/2]

◆ ToElement() [2/2]

◆ Uri()