Base class for mesh structures, handling basic vertex functionality. More...

#include <Vertices.h>

Inheritance diagram for SurgSim::DataStructures::Vertices< VertexData >:

Public Types
typedef Vertex< VertexData >	VertexType
	Vertex type for convenience.

Public Member Functions
	Vertices ()
	Constructor.

template<class V >
	Vertices (const Vertices< V > &other)
	Copy constructor when the template data is a different type In this case, no data will be copied. More...

template<class V >
Vertices< VertexData > &	operator= (const Vertices< V > &other)
	Assignment when the template data is a different type In this case, no data will be copied. More...

virtual	~Vertices ()
	Destructor.

void	clear ()
	Clear mesh to return to an empty state (no vertices).

bool	update ()
	Performs any updates that are required when the vertices are modified. More...

size_t	addVertex (const VertexType &vertex)
	Adds a vertex to the mesh. More...

size_t	getNumVertices () const
	Returns the number of vertices in this mesh.

const VertexType &	getVertex (size_t id) const
	Returns the specified vertex.

VertexType &	getVertex (size_t id)
	Returns the specified vertex (non const version).

const std::vector< VertexType > &	getVertices () const
	Returns a vector containing the position of each vertex.

std::vector< VertexType > &	getVertices ()
	Returns a vector containing the position of each vertex (non const version).

void	setVertexPosition (size_t id, const SurgSim::Math::Vector3d &position)
	Sets the position of a vertex. More...

const SurgSim::Math::Vector3d &	getVertexPosition (size_t id) const
	Returns the position of a vertex. More...

void	setVertexPositions (const std::vector< SurgSim::Math::Vector3d > &positions, bool doUpdate=true)
	Sets the position of each vertex. More...

void	transform (const Math::RigidTransform3d &pose)
	Apply a rigid transform to each vertex. More...

bool	operator== (const Vertices &mesh) const
	Compares the mesh with another one (equality) More...

bool	operator!= (const Vertices &mesh) const
	Compares the mesh with another one (inequality) More...

Protected Member Functions
virtual void	doClearVertices ()
	Remove all vertices from the mesh.

virtual bool	isEqual (const Vertices &mesh) const
	Internal comparison of meshes of the same type: returns true if equal, false if not equal. More...

Detailed Description

template<class VertexData>
class SurgSim::DataStructures::Vertices< VertexData >

Base class for mesh structures, handling basic vertex functionality.

Vertices is to be used purely as a data structure and not provide implementation of algorithms. For example, a physics FEM is not a subclass of Vertices, but may use a Mesh for storing the structure of the FEM.

Subclasses of this class should handle the elements required for a specific type of mesh (as simple as just a generic triangle mesh or as specific as a triangle mesh for collision detection, which might also specify the data types for the vertex and elements).

It is recommended that subclasses of this class also provide convenience methods for creation of vertices and elements, and the data each contains. A method such as createVertex(position, other data...) simplifies the creation of vertices and the data required. This method would use the addVertex() method to add the created vertices to the Mesh.

Template Parameters

VertexData Type of extra data stored in each vertex (void for no data)

See also: Vertex; MeshElement

Constructor & Destructor Documentation

§ Vertices()

template<class VertexData >

template<class V >

SurgSim::DataStructures::Vertices< VertexData >::Vertices ( const Vertices< V > & other )

explicit

Copy constructor when the template data is a different type In this case, no data will be copied.

Template Parameters

V	type of data stored in the other Vertices

Parameters

other the Vertices to copy from

Member Function Documentation

§ addVertex()

template<class VertexData >

size_t SurgSim::DataStructures::Vertices< VertexData >::addVertex ( const VertexType & vertex )

Adds a vertex to the mesh.

Recommend that subclasses with a specific purpose (such as for use in collision detection), have a createVertex(position, other data...) method which performs any checking desired and sets up the vertex data based on the other parameters.

Parameters

vertex Vertex to add to the mesh

Returns: Unique ID of the new vertex.

§ getVertexPosition()

template<class VertexData >

const SurgSim::Math::Vector3d & SurgSim::DataStructures::Vertices< VertexData >::getVertexPosition ( size_t id ) const

Returns the position of a vertex.

Parameters

id	Unique ID of the vertex

Returns: Position of the vertex

§ isEqual()

template<class VertexData >

bool SurgSim::DataStructures::Vertices< VertexData >::isEqual ( const Vertices< VertexData > & mesh ) const

protectedvirtual

Internal comparison of meshes of the same type: returns true if equal, false if not equal.

Override this method to provide custom comparison. Base Mesh implementation compares vertices: the order of vertices must also match to be considered equal.

Parameters

mesh	Mesh must be of the same type as that which it is compared against

Reimplemented in SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >, SurgSim::DataStructures::TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData >, SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, SegmentEmptyData >, and SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >.

§ operator!=()

template<class VertexData >

bool SurgSim::DataStructures::Vertices< VertexData >::operator!= ( const Vertices< VertexData > & mesh ) const

Compares the mesh with another one (inequality)

Parameters

mesh	The Vertices to compare it to

Returns: False if the two vertices are equals, True otherwise

§ operator=()

template<class VertexData >

template<class V >

Vertices< VertexData > & SurgSim::DataStructures::Vertices< VertexData >::operator= ( const Vertices< V > & other )

Assignment when the template data is a different type In this case, no data will be copied.

Template Parameters

V	type of data stored in the other Vertices

Parameters

other the Vertices to copy from

§ operator==()

template<class VertexData >

bool SurgSim::DataStructures::Vertices< VertexData >::operator== ( const Vertices< VertexData > & mesh ) const

Compares the mesh with another one (equality)

Parameters

mesh	The Vertices to compare it to

Returns: True if the two vertices are equals, False otherwise

§ setVertexPosition()

template<class VertexData >

void SurgSim::DataStructures::Vertices< VertexData >::setVertexPosition	(	size_t	id,
		const SurgSim::Math::Vector3d &	position
	)

Sets the position of a vertex.

Parameters

id	Unique ID of the vertex
position	Position of the vertex

§ setVertexPositions()

template<class VertexData >

void SurgSim::DataStructures::Vertices< VertexData >::setVertexPositions	(	const std::vector< SurgSim::Math::Vector3d > &	positions,
		bool	doUpdate = `true`
	)

Sets the position of each vertex.

Parameters

positions	Vector containing new position for each vertex
doUpdate	True to perform an update after setting the vertices, false to skip update; default is true.

§ transform()

template<class VertexData >

void SurgSim::DataStructures::Vertices< VertexData >::transform ( const Math::RigidTransform3d & pose )

Apply a rigid transform to each vertex.

Parameters

pose	the rigid transform to apply

§ update()

template<class VertexData >

bool SurgSim::DataStructures::Vertices< VertexData >::update ( )

Performs any updates that are required when the vertices are modified.

Calls doUpdate() to perform the updates.

Returns: true on success.

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

SurgSim/DataStructures/Vertices.h
SurgSim/DataStructures/Vertices-inl.h

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<class VertexData> class SurgSim::DataStructures::Vertices< VertexData >

Constructor & Destructor Documentation

§ Vertices()

Member Function Documentation

§ addVertex()

§ getVertexPosition()

§ isEqual()

§ operator!=()

§ operator=()

§ operator==()

§ setVertexPosition()

§ setVertexPositions()

§ transform()

§ update()

template<class VertexData>
class SurgSim::DataStructures::Vertices< VertexData >