iDynTree/ModelTransformersSolidShapes.h file

Collection of function to modify model, related to solid shapes.

Classes

struct iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions

Enums

enum ApproximateSolidShapesWithPrimitiveShapeConversionType { ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes }

Functions

auto approximateSolidShapesWithPrimitiveShape(const Model& inputModel, Model& outputModel, ApproximateSolidShapesWithPrimitiveShapeOptions options = ApproximateSolidShapesWithPrimitiveShapeOptions()) -> bool: \function Approximate solid shapes of the input model with some primitive shapes.

Function documentation

bool approximateSolidShapesWithPrimitiveShape(const Model& inputModel, Model& outputModel, ApproximateSolidShapesWithPrimitiveShapeOptions options = ApproximateSolidShapesWithPrimitiveShapeOptions())

\function Approximate solid shapes of the input model with some primitive shapes.

This function takes in input a Model, and returns in output the same model, but with all solid shapes of the model (both collision and visual) substituted with a primitive shape that approximates in some way the original solid shape.