71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_GTSMESHUTILS_HH_
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#define _GAZEBO_GTSMESHUTILS_HH_
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#include <vector>
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#include <ignition/math/Vector2.hh>
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#include "gazebo/common/Mesh.hh"
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#include "gazebo/math/Vector2d.hh"
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#include "gazebo/math/Vector2i.hh"
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struct _GtsSurface;
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typedef _GtsSurface GtsSurface;
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namespace gazebo
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{
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namespace common
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{
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class Mesh;
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/// \addtogroup gazebo_common Common
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/// \{
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/// \class GTSMeshUtils GTSMeshUtils.hh common/common.hh
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/// \brief Creates GTS utilities for meshes
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class GZ_COMMON_VISIBLE GTSMeshUtils
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{
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/// \brief Perform delaunay triangulation on input vertices.
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/// \param[in] _vertices A list of all vertices
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/// \param[in] _edges A list of edges. Each edge is made of 2 vertex
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/// indices from _vertices
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/// \param[out] _submesh A submesh that will be populated with the
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/// resulting triangles.
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/// \return True on success.
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public: static bool DelaunayTriangulation(
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const std::vector<ignition::math::Vector2d> &_vertices,
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const std::vector<ignition::math::Vector2i> &_edges,
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SubMesh *_submesh);
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/// \brief Perform delaunay triangulation on input vertices.
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/// \param[in] _vertices A list of all vertices
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/// \param[in] _edges A list of edges. Each edge is made of 2 vertex
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/// indices from _vertices
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/// \return Triangulated GTS surface.
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private: static GtsSurface *DelaunayTriangulation(
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const std::vector<ignition::math::Vector2d> &_vertices,
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const std::vector<ignition::math::Vector2i> &_edges);
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};
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}
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}
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#endif
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