Maintains and manages all meshes. More...

#include <common/common.hh>

Inheritance diagram for gazebo::common::MeshManager:

Public Member Functions
void	AddMesh (Mesh *_mesh)
	Add a mesh to the manager. More...

void	CreateBox (const std::string &_name, const math::Vector3 &_sides, const math::Vector2d &_uvCoords) GAZEBO_DEPRECATED(6.0)
	Create a Box mesh. More...

void	CreateBox (const std::string &_name, const ignition::math::Vector3d &_sides, const ignition::math::Vector2d &_uvCoords)
	Create a Box mesh. More...

void	CreateCamera (const std::string &_name, float _scale)
	Create a Camera mesh. More...

void	CreateCone (const std::string &_name, float _radius, float _height, int _rings, int _segments)
	Create a cone mesh. More...

void	CreateCylinder (const std::string &_name, float _radius, float _height, int _rings, int _segments)
	Create a cylinder mesh. More...

void	CreateExtrudedPolyline (const std::string &_name, const std::vector< std::vector< math::Vector2d > > &_vertices, double _height) GAZEBO_DEPRECATED(6.0)
	Create an extruded mesh from polylines. More...

void	CreateExtrudedPolyline (const std::string &_name, const std::vector< std::vector< ignition::math::Vector2d > > &_vertices, double _height)
	Create an extruded mesh from polylines. More...

void	CreatePlane (const std::string &_name, const math::Plane &_plane, const math::Vector2d &_segments, const math::Vector2d &_uvTile) GAZEBO_DEPRECATED(6.0)
	Create mesh for a plane. More...

void	CreatePlane (const std::string &_name, const ignition::math::Planed &_plane, const ignition::math::Vector2d &_segments, const ignition::math::Vector2d &_uvTile)
	Create mesh for a plane. More...

void	CreatePlane (const std::string &_name, const math::Vector3 &_normal, double _d, const math::Vector2d &_size, const math::Vector2d &_segments, const math::Vector2d &_uvTile) GAZEBO_DEPRECATED(6.0)
	Create mesh for a plane. More...

void	CreatePlane (const std::string &_name, const ignition::math::Vector3d &_normal, const double _d, const ignition::math::Vector2d &_size, const ignition::math::Vector2d &_segments, const ignition::math::Vector2d &_uvTile)
	Create mesh for a plane. More...

void	CreateSphere (const std::string &_name, float _radius, int _rings, int _segments)
	Create a sphere mesh. More...

void	CreateTube (const std::string &_name, float _innerRadius, float _outterRadius, float _height, int _rings, int _segments, double _arc=2.0 *M_PI)
	Create a tube mesh. More...

void	Export (const Mesh *_mesh, const std::string &_filename, const std::string &_extension, bool _exportTextures=false)
	Export a mesh to a file. More...

void	GenSphericalTexCoord (const Mesh *_mesh, math::Vector3 _center) GAZEBO_DEPRECATED(6.0)
	generate spherical texture coordinates More...

void	GenSphericalTexCoord (const Mesh *_mesh, const ignition::math::Vector3d &_center)
	generate spherical texture coordinates More...

const Mesh *	GetMesh (const std::string &_name) const
	Get a mesh by name. More...

void	GetMeshAABB (const Mesh *_mesh, math::Vector3 &_center, math::Vector3 &_minXYZ, math::Vector3 &_maxXYZ) GAZEBO_DEPRECATED(6.0)
	Get mesh aabb and center. More...

void	GetMeshAABB (const Mesh *_mesh, ignition::math::Vector3d &_center, ignition::math::Vector3d &_min_xyz, ignition::math::Vector3d &_max_xyz)
	Get mesh aabb and center. More...

bool	HasMesh (const std::string &_name) const
	Return true if the mesh exists. More...

bool	IsValidFilename (const std::string &_filename)
	Checks a path extension against the list of valid extensions. More...

const Mesh *	Load (const std::string &_filename)
	Load a mesh from a file. More...

Additional Inherited Members
Static Public Member Functions inherited from SingletonT< MeshManager >
static MeshManager *	Instance ()
	Get an instance of the singleton. More...

Protected Member Functions inherited from SingletonT< MeshManager >
	SingletonT ()
	Constructor. More...

virtual	~SingletonT ()
	Destructor. More...

Detailed Description

Maintains and manages all meshes.

Member Function Documentation

void gazebo::common::MeshManager::AddMesh ( Mesh * _mesh )

Add a mesh to the manager.

This MeshManager takes ownership of the mesh and will destroy it. See ~MeshManager.

Parameters

[in] the mesh to add.

void gazebo::common::MeshManager::CreateBox	(	const std::string &	_name,
		const math::Vector3 &	_sides,
		const math::Vector2d &	_uvCoords
	)

Create a Box mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_sides	the x y x dimentions of eah side in meter
[in]	_uvCoords	the texture coordinates

Deprecated:: See CreateBox function that accepts ignition::math::Vector3d and ignition::math::Vector2d.

void gazebo::common::MeshManager::CreateBox	(	const std::string &	_name,
		const ignition::math::Vector3d &	_sides,
		const ignition::math::Vector2d &	_uvCoords
	)

Create a Box mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_sides	the x y x dimentions of eah side in meter
[in]	_uvCoords	the texture coordinates

void gazebo::common::MeshManager::CreateCamera	(	const std::string &	_name,
		float	_scale
	)

Create a Camera mesh.

Parameters

[in]	_name	name of the new mesh
[in]	_scale	scaling factor for the camera

void gazebo::common::MeshManager::CreateCone	(	const std::string &	_name,
		float	_radius,
		float	_height,
		int	_rings,
		int	_segments
	)

Create a cone mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_radius	the radius of the cylinder in the x y plane
[in]	_height	the height along z
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segment per circle

void gazebo::common::MeshManager::CreateCylinder	(	const std::string &	_name,
		float	_radius,
		float	_height,
		int	_rings,
		int	_segments
	)

Create a cylinder mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_radius	the radius of the cylinder in the x y plane
[in]	_height	the height along z
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segment per circle

void gazebo::common::MeshManager::CreateExtrudedPolyline	(	const std::string &	_name,
		const std::vector< std::vector< math::Vector2d > > &	_vertices,
		double	_height
	)

Create an extruded mesh from polylines.

The polylines are assumed to be closed and non-intersecting. Delaunay triangulation is applied to create the resulting mesh. If there is more than one polyline, a ray casting algorithm will be used to identify the exterior/interior edges and remove holes from the 2D shape before extrusion.

Parameters

[in]	_name	the name of the new mesh
[in]	_vertices	A multidimensional vector of polylines and their vertices. Each element in the outer vector consists of a vector of vertices that describe one polyline. edges and remove the holes in the shape.
[in]	_height	the height of extrusion

Deprecated:: See CreateExtrudedPolyline that accepts ignition::math::Vector2d.

void gazebo::common::MeshManager::CreateExtrudedPolyline	(	const std::string &	_name,
		const std::vector< std::vector< ignition::math::Vector2d > > &	_vertices,
		double	_height
	)

Create an extruded mesh from polylines.

The polylines are assumed to be closed and non-intersecting. Delaunay triangulation is applied to create the resulting mesh. If there is more than one polyline, a ray casting algorithm will be used to identify the exterior/interior edges and remove holes from the 2D shape before extrusion.

Parameters

[in]	_name	the name of the new mesh
[in]	_vertices	A multidimensional vector of polylines and their vertices. Each element in the outer vector consists of a vector of vertices that describe one polyline. edges and remove the holes in the shape.
[in]	_height	the height of extrusion

void gazebo::common::MeshManager::CreatePlane	(	const std::string &	_name,
		const math::Plane &	_plane,
		const math::Vector2d &	_segments,
		const math::Vector2d &	_uvTile
	)

Create mesh for a plane.

Parameters

[in]	_name
[in]	_plane	plane parameters
[in]	_segments	number of segments in x and y
[in]	_uvTile	the texture tile size in x and y

Deprecated:: See CreatePlane function that accepts ignition::math objects.

void gazebo::common::MeshManager::CreatePlane	(	const std::string &	_name,
		const ignition::math::Planed &	_plane,
		const ignition::math::Vector2d &	_segments,
		const ignition::math::Vector2d &	_uvTile
	)

Create mesh for a plane.

Parameters

[in]	_name
[in]	_plane	plane parameters
[in]	_segments	number of segments in x and y
[in]	_uvTile	the texture tile size in x and y

void gazebo::common::MeshManager::CreatePlane	(	const std::string &	_name,
		const math::Vector3 &	_normal,
		double	_d,
		const math::Vector2d &	_size,
		const math::Vector2d &	_segments,
		const math::Vector2d &	_uvTile
	)

Create mesh for a plane.

Parameters

[in]	_name	the name of the new mesh
[in]	_normal	the normal to the plane
[in]	_d	distance from the origin along normal
[in]	_size	the size of the plane in x and y
[in]	_segments	the number of segments in x and y
[in]	_uvTile	the texture tile size in x and y

Deprecated:: See CreatePlane function that accepts ignition::math objects.

void gazebo::common::MeshManager::CreatePlane	(	const std::string &	_name,
		const ignition::math::Vector3d &	_normal,
		const double	_d,
		const ignition::math::Vector2d &	_size,
		const ignition::math::Vector2d &	_segments,
		const ignition::math::Vector2d &	_uvTile
	)

Create mesh for a plane.

Parameters

[in]	_name	the name of the new mesh
[in]	_normal	the normal to the plane
[in]	_d	distance from the origin along normal
[in]	_size	the size of the plane in x and y
[in]	_segments	the number of segments in x and y
[in]	_uvTile	the texture tile size in x and y

void gazebo::common::MeshManager::CreateSphere	(	const std::string &	_name,
		float	_radius,
		int	_rings,
		int	_segments
	)

Create a sphere mesh.

Parameters

[in]	_name	the name of the mesh
[in]	_radius	radius of the sphere in meter
[in]	_rings	number of circles on th y axis
[in]	_segments	number of segment per circle

void gazebo::common::MeshManager::CreateTube	(	const std::string &	_name,
		float	_innerRadius,
		float	_outterRadius,
		float	_height,
		int	_rings,
		int	_segments,
		double	_arc = `2.0 *M_PI`
	)

Create a tube mesh.

Generates rings inside and outside the cylinder Needs at least two rings and 3 segments

Parameters

[in]	_name	the name of the new mesh
[in]	_innerRadius	the inner radius of the tube in the x y plane
[in]	_outterRadius	the outer radius of the tube in the x y plane
[in]	_height	the height along z
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segment per circle
[in]	_arc	the arc angle in radians

void gazebo::common::MeshManager::Export	(	const Mesh *	_mesh,
		const std::string &	_filename,
		const std::string &	_extension,
		bool	_exportTextures = `false`
	)

Export a mesh to a file.

Parameters

[in]	_mesh	Pointer to the mesh to be exported
[in]	_filename	Exported file's path and name
[in]	_extension	Exported file's format ("dae" for Collada)
[in]	_exportTextures	True to export texture images to '../materials/textures' folder

void gazebo::common::MeshManager::GenSphericalTexCoord	(	const Mesh *	_mesh,
		math::Vector3	_center
	)

generate spherical texture coordinates

Parameters

[in]	_mesh	Pointer to the mesh
[in]	_center	Center of the mesh

Deprecated:: See GenSphericalTexCoord function that accepts ignition::math::Vector3d.

void gazebo::common::MeshManager::GenSphericalTexCoord	(	const Mesh *	_mesh,
		const ignition::math::Vector3d &	_center
	)

generate spherical texture coordinates

Parameters

[in]	_mesh	Pointer to the mesh
[in]	_center	Center of the mesh

const Mesh* gazebo::common::MeshManager::GetMesh ( const std::string & _name ) const

Get a mesh by name.

Parameters

[in] _name the name of the mesh to look for

Returns: the mesh or NULL if not found

void gazebo::common::MeshManager::GetMeshAABB	(	const Mesh *	_mesh,
		math::Vector3 &	_center,
		math::Vector3 &	_minXYZ,
		math::Vector3 &	_maxXYZ
	)

Get mesh aabb and center.

Parameters

[in]	_mesh	the mesh
[out]	_center	the AAB center position
[out]	_minXYZ	the bounding box minimum
[out]	_maxXYZ	the bounding box maximum

Deprecated:: See GetMeshAABB that accepts ignition::math::Vector3d.

void gazebo::common::MeshManager::GetMeshAABB	(	const Mesh *	_mesh,
		ignition::math::Vector3d &	_center,
		ignition::math::Vector3d &	_min_xyz,
		ignition::math::Vector3d &	_max_xyz
	)

Get mesh aabb and center.

Parameters

[in]	_mesh	the mesh
[out]	_center	the AAB center position
[out]	_min_xyz	the bounding box minimum
[out]	_max_xyz	the bounding box maximum

bool gazebo::common::MeshManager::HasMesh ( const std::string & _name ) const

Return true if the mesh exists.

Parameters

[in] _name the name of the mesh

bool gazebo::common::MeshManager::IsValidFilename ( const std::string & _filename )

Checks a path extension against the list of valid extensions.

Returns: true if the file extension is loadable

const Mesh* gazebo::common::MeshManager::Load ( const std::string & _filename )

Load a mesh from a file.

Parameters

[in] _filename the path to the mesh

Returns: a pointer to the created mesh

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

MeshManager.hh

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation