The PointCloudShape represents point cloud data. More...

#include <PointCloudShape.hpp>

Inheritance diagram for dart::dynamics::PointCloudShape:

Collaboration diagram for dart::dynamics::PointCloudShape:

Public Types
enum	ColorMode { USE_SHAPE_COLOR = 0, BIND_OVERALL, BIND_PER_POINT }

enum	PointShapeType { BOX = 0, BILLBOARD_SQUARE, BILLBOARD_CIRCLE, POINT }

Public Types inherited from dart::dynamics::Shape
enum	ShapeType { SPHERE, BOX, ELLIPSOID, CYLINDER, CAPSULE, CONE, PYRAMID, RECTANGULAR_PYRAMID, PLANE, MULTISPHERE, MESH, SOFT_MESH, LINE_SEGMENT, HEIGHTMAP, UNSUPPORTED }

enum	DataVariance { STATIC = 0, DYNAMIC_TRANSFORM = 1 << 1, DYNAMIC_PRIMITIVE = 1 << 2, DYNAMIC_COLOR = 1 << 3, DYNAMIC_VERTICES = 1 << 4, DYNAMIC_ELEMENTS = 1 << 5, DYNAMIC = 0xFF }
	DataVariance can be used by renderers to determine whether it should expect data for this shape to change during each update. More...

using	VersionChangedSignal = common::Signal< void(Shape *shape, std::size_t version)>

Public Member Functions
	PointCloudShape (double visualSize=0.01)
	Constructor. More...

	~PointCloudShape () override=default
	Destructor.

const std::string &	getType () const override
	Returns a string representing the shape type. More...

Eigen::Matrix3d	computeInertia (double mass) const override
	Computes the inertia.

void	reserve (std::size_t size)
	Reserves the point list by `size`.

void	addPoint (const Eigen::Vector3d &point)
	Adds a point to this point cloud.

void	addPoint (const std::vector< Eigen::Vector3d > &points)
	Adds points to this point cloud.

void	setPoint (const std::vector< Eigen::Vector3d > &points)
	Replaces points with `points`.

const std::vector< Eigen::Vector3d > &	getPoints () const
	Returns the list of points.

std::size_t	getNumPoints () const
	Returns the number of points.

void	removeAllPoints ()
	Removes all the points.

void	setPointShapeType (PointShapeType type)
	Sets the point shape type.

PointShapeType	getPointShapeType () const
	Returns the point shape type.

void	setColorMode (ColorMode mode)
	Sets the color mode.

ColorMode	getColorMode () const
	Returns the color mode.

void	setOverallColor (const Eigen::Vector4d &color)
	Sets the overall color. More...

Eigen::Vector4d	getOverallColor () const
	Returns the overall color.

void	setColors (const std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d >> &colors)
	Sets the point cloud colors. More...

const std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &	getColors () const
	Returns the point cloud colors.

void	setVisualSize (double size)
	Sets size of visual object that represents each point.

double	getVisualSize () const
	Returns size of visual object that represents each point.

void	notifyColorUpdated (const Eigen::Vector4d &color) override
	Notify that the color (rgba) of this shape has updated.

Public Member Functions inherited from dart::dynamics::Shape
	Shape (ShapeType _type)
	Constructor. More...

	Shape ()
	Constructor.

virtual	~Shape ()
	Destructor.

template<typename ShapeT >
bool	is () const
	Get true if the types of this Shape and the template parameter (a shape class) are identical. More...

const math::BoundingBox &	getBoundingBox () const
	Get the bounding box of the shape in its local coordinate frame. More...

Eigen::Matrix3d	computeInertiaFromDensity (double density) const

Eigen::Matrix3d	computeInertiaFromMass (double mass) const

double	getVolume () const
	Returns volume of this shape. More...

std::size_t	getID () const

ShapeType	getShapeType () const

void	setDataVariance (unsigned int _variance)
	Set the data variance of this shape. More...

void	addDataVariance (unsigned int _variance)
	Add a type of variance to this shape. More...

void	removeDataVariance (unsigned int _variance)
	Remove a type of variance from this shape. More...

unsigned int	getDataVariance () const
	Get the data variance of this shape.

bool	checkDataVariance (DataVariance type) const
	True iff this Shape has the specified type of DataVariance.

virtual void	refreshData ()
	Instruct this shape to update its data.

virtual void	notifyAlphaUpdate (double alpha)
	Notify that the alpha of this shape has updated.

virtual void	notifyAlphaUpdated (double alpha)
	Notify that the alpha of this shape has updated.

virtual void	notifyColorUpdate (const Eigen::Vector4d &color)
	Notify that the color (rgba) of this shape has updated.

std::size_t	incrementVersion () override final
	Increment the version of this Shape and notify its subscribers.

Public Member Functions inherited from dart::common::Subject
virtual	~Subject ()
	Destructor will notify all Observers that it is destructing.

Public Member Functions inherited from dart::common::VersionCounter
	VersionCounter ()
	Default constructor.

virtual std::size_t	getVersion () const
	Get the version number of this object.

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns shape type for this class.

Protected Member Functions
void	updateVolume () const override
	Updates volume.

void	updateBoundingBox () const override
	Updates bounding box.

Protected Member Functions inherited from dart::common::Subject
void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers.

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers.

Protected Member Functions inherited from dart::common::VersionCounter
void	setVersionDependentObject (VersionCounter *dependent)

Protected Attributes
std::vector< Eigen::Vector3d >	mPoints
	List of points.

PointShapeType	mPointShapeType
	The point shape type.

ColorMode	mColorMode
	The color mode.

std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > >	mColors
	List of colors.

double	mVisualSize
	The size of visual object that represents each point.

Protected Attributes inherited from dart::dynamics::Shape
math::BoundingBox	mBoundingBox
	The bounding box (in the local coordinate frame) of the shape.

bool	mIsBoundingBoxDirty
	Whether bounding box needs update.

double	mVolume
	Volume enclosed by the geometry.

bool	mIsVolumeDirty
	Whether volume needs update.

const std::size_t	mID
	Unique id.

unsigned int	mVariance
	The DataVariance of this Shape.

ShapeType	mType

Protected Attributes inherited from dart::common::Subject
std::set< Observer * >	mObservers
	List of current Observers.

Protected Attributes inherited from dart::common::VersionCounter
std::size_t	mVersion

Additional Inherited Members
Public Attributes inherited from dart::dynamics::Shape
common::SlotRegister< VersionChangedSignal >	onVersionChanged
	Use this to subscribe to version change signals.

Static Protected Attributes inherited from dart::dynamics::Shape
static std::atomic_int	mCounter {PRIMITIVE_MAGIC_NUMBER}

Detailed Description

The PointCloudShape represents point cloud data.

Member Enumeration Documentation

◆ ColorMode

enum dart::dynamics::PointCloudShape::ColorMode

Enumerator
USE_SHAPE_COLOR	Use the color specified by the ShapeAspect. This is the default.
BIND_OVERALL	Use one color for all the points.
BIND_PER_POINT	Use one color per point.

◆ PointShapeType

enum dart::dynamics::PointCloudShape::PointShapeType

Enumerator
BOX	3D volumetric box
BILLBOARD_SQUARE	2D square always facing the screen
BILLBOARD_CIRCLE	2D circle always facing the screen
POINT	Vertex.

Constructor & Destructor Documentation

◆ PointCloudShape()

dart::dynamics::PointCloudShape::PointCloudShape ( double visualSize = 0.01 )

explicit

Constructor.

Parameters

[in] visualSize The size of cube that represents each point.

Member Function Documentation

◆ getType()

const std::string & dart::dynamics::PointCloudShape::getType ( ) const

overridevirtual

Returns a string representing the shape type.

See also: is()

Implements dart::dynamics::Shape.

◆ setColors()

void dart::dynamics::PointCloudShape::setColors ( const std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d >> & colors )

Sets the point cloud colors.

The count of colors should be the same with points. It's undefined behavior, otherwise.

◆ setOverallColor()

void dart::dynamics::PointCloudShape::setOverallColor ( const Eigen::Vector4d & color )

Sets the overall color.

This function resizes the colors to one.

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

dart/dynamics/PointCloudShape.hpp
dart/dynamics/PointCloudShape.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members