libmove3d  3.13.0
Classes | Functions
ConvexHull
GraspPlanning

Classes

class  gpRidge
class  gpFace
class  gpVoronoiRidge
class  gpVoronoiCell
class  gpConvexHull
class  gpConvexHull3D
class  gpConvexHull6D

Functions

int gpSample_polyhedron_convex_hull (p3d_polyhedre *polyhedron, double step, std::vector< gpVector3D > &samples)

Detailed Description

This module implements some classes to compute the convex hull of a point set (in arbitrary dimension). It is based on qhull( http://www.qhull.org/).


Function Documentation

int gpSample_polyhedron_convex_hull ( p3d_polyhedre *  polyhedron,
double  step,
std::vector< gpVector3D > &  samples 
)

Computes sample points inside the convex hull of the vertices of a p3d_polyhedre. A grid is first computed inside an axis-aligned bounding box of the polyhedron. All the points that are outside the convex hull are then removed. The function also computes the distance from each sample to the hull (the distance value is copied in the cost field of the samples)

Parameters:
polyhedronpointer to the p3d_polyhedre
stepresolution of the grid
samplesthe computed number of samples
Returns:
GP_OK in case of success, GP_ERROR otherwise
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