iDynTree/ModelTransformersSolidShapes.h file

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

Classes

struct iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions

Enums

enum class ApproximateSolidShapesWithPrimitiveShapeConversionType { ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes }
enum class ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate { VisualShapes, CollisionShapes, BothShapes }: Enum class representing which shape should be approximated.

Functions

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

Enum documentation

enum class ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate

Enum class representing which shape should be approximated.

Namely teh visual, collision or both 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.