Skip to content

Latest commit

 

History

History
133 lines (90 loc) · 3.88 KB

tesseract_geometry_doc.rst

File metadata and controls

133 lines (90 loc) · 3.88 KB
Raw

Tesseract Geometry Package

Background

This package contains geometries used by Tesseract

Features

  1. Primitive Shapes
    • Box
    • Cone
    • Capsule
    • Cylinder
    • Plane
    • Sphere
  2. Mesh
  3. Convex Mesh
  4. SDF Mesh
  5. Octree

Creating Geometry Shapes

.. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp

Example Explanation

  1. Create a box.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Shape Box
   :end-before: // Shape Cone

  2. Create a cone.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Shape Cone
   :end-before: // Shape Capsule

  3. Create a capsule.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Shape Capsule
   :end-before: // Shape Cylinder

  4. Create a cylinder.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Shape Cylinder
   :end-before: // Shape Plane

  5. Create a plane.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Shape Plane
   :end-before: // Shape Sphere

  6. Create a sphere.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Shape Sphere
   :end-before: // Manually create mesh

  7. Create a mesh.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Manually create mesh
   :end-before: // Manually create signed distance field mesh

    Note

    This shows how to create a mesh provided vertices and faces. You may also use utilities in tesseract_scene_graph mesh parser to load meshes from file.

  8. Create a signed distance field mesh.

    Note

    This should be the same as a mesh, but when interperated as the collision object it will be encoded as a signed distance field.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Manually create signed distance field mesh
   :end-before: // Manually create convex mesh

    Note

    This shows how to create a SDF mesh provided vertices and faces. You may also use utilities in tesseract_scene_graph mesh parser to load meshes from file.

  9. Create a convex mesh.

    Warning

    This expects the data to already represent a convex mesh. If yours does not load as a mesh and then use tesseract utility to convert to a convex mesh.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Manually create convex mesh
   :end-before: // Create an octree

    Note

    This shows how to create a convex mesh provided vertices and faces. You may also use utilities in tesseract_scene_graph mesh parser to load meshes from file.

  10. Create an octree.

    .. literalinclude:: ../../tesseract/tesseract_geometry/examples/create_geometries_example.cpp
   :language: c++
   :start-after: // Create an octree
   :end-before: }

    Note

    It is benificial to prune the octree prior to creating the tesseract octree shap to simplify

    Octree support multiple shape types to represent a cell in the octree.

    • BOX tesseract_geometry::Octree::SubType::BOX
    • SPHERE_INSIDE tesseract_geometry::Octree::SubType::SPHERE_INSIDE
    • SPHERE_OUTSIDE tesseract_geometry::Octree::SubType::SPHERE_OUTSIDE