From ffadd7db77b538d3d2ab747f4f798b8043ec58ad Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Mon, 10 Jul 2023 11:19:51 +0200
Subject: [PATCH] Autoformatting
---
.../SingleChainManipulability.cpp | 340 +++++++++++-------
VirtualRobot/Obstacle.cpp | 93 +++--
VirtualRobot/Visualization/TriMeshModel.cpp | 301 ++++++++++------
3 files changed, 453 insertions(+), 281 deletions(-)
diff --git a/VirtualRobot/Manipulability/SingleChainManipulability.cpp b/VirtualRobot/Manipulability/SingleChainManipulability.cpp
index 4bf7e59c6..7d4edde7e 100644
--- a/VirtualRobot/Manipulability/SingleChainManipulability.cpp
+++ b/VirtualRobot/Manipulability/SingleChainManipulability.cpp
@@ -23,179 +23,249 @@
*/
#include "SingleChainManipulability.h"
-#include <Visualization/VisualizationFactory.h>
-#include <Visualization/VisualizationNode.h>
#include <Eigen/Dense>
+
+#include <SimoxUtility/math/convert/pos_quat_to_mat4f.h>
+
#include "../IK/DifferentialIK.h"
-#include "VirtualRobot/RobotNodeSet.h"
#include "VirtualRobot/Robot.h"
-#include <SimoxUtility/math/convert/pos_quat_to_mat4f.h>
+#include "VirtualRobot/RobotNodeSet.h"
+#include <Visualization/VisualizationFactory.h>
+#include <Visualization/VisualizationNode.h>
namespace VirtualRobot
{
-Eigen::MatrixXd AbstractSingleChainManipulability::computeManipulability(const Eigen::MatrixXd &jacobian, AbstractManipulability::Type type) {
- if (weightMatrix.rows() == 0){
- int nbJoints = jacobian.cols();
- weightMatrix.setIdentity(nbJoints, nbJoints);
- }
- Eigen::MatrixXd velocityManipulability = jacobian * weightMatrix * weightMatrix.transpose() * jacobian.transpose();
+ Eigen::MatrixXd
+ AbstractSingleChainManipulability::computeManipulability(const Eigen::MatrixXd& jacobian,
+ AbstractManipulability::Type type)
+ {
+ if (weightMatrix.rows() == 0)
+ {
+ int nbJoints = jacobian.cols();
+ weightMatrix.setIdentity(nbJoints, nbJoints);
+ }
+ Eigen::MatrixXd velocityManipulability =
+ jacobian * weightMatrix * weightMatrix.transpose() * jacobian.transpose();
- switch (type) {
- case Velocity:
- return velocityManipulability;
- case Force:
- return velocityManipulability.inverse();
- default:
- throw std::runtime_error("Unkown manipulability type");
+ switch (type)
+ {
+ case Velocity:
+ return velocityManipulability;
+ case Force:
+ return velocityManipulability.inverse();
+ default:
+ throw std::runtime_error("Unkown manipulability type");
+ }
}
-}
-
-
-
+ SingleRobotNodeSetManipulability::SingleRobotNodeSetManipulability(
+ const RobotNodeSetPtr& rns,
+ Mode mode,
+ Type type,
+ Eigen::MatrixXd weightMatrixInit,
+ bool convertMMtoM) :
+ SingleRobotNodeSetManipulability(rns,
+ rns->getTCP(),
+ mode,
+ type,
+ RobotNodePtr(),
+ weightMatrixInit,
+ convertMMtoM)
+ {
+ }
-SingleRobotNodeSetManipulability::SingleRobotNodeSetManipulability(const RobotNodeSetPtr &rns, Mode mode, Type type, Eigen::MatrixXd weightMatrixInit, bool convertMMtoM)
- : SingleRobotNodeSetManipulability(rns, rns->getTCP(), mode, type, RobotNodePtr(), weightMatrixInit, convertMMtoM)
-{
-}
-
-SingleRobotNodeSetManipulability::SingleRobotNodeSetManipulability(const RobotNodeSetPtr &rns, const RobotNodePtr &node, Mode mode, Type type, const RobotNodePtr &coordSystem, Eigen::MatrixXd weightMatrixInit, bool convertMMtoM)
- : AbstractSingleChainManipulability(mode, type, weightMatrixInit), rns(rns), node(node), coordSystem(coordSystem)
-{
- ik.reset(new DifferentialIK(rns, coordSystem, JacobiProvider::eSVDDampedDynamic));
- ik->convertModelScalingtoM(convertMMtoM);
-}
+ SingleRobotNodeSetManipulability::SingleRobotNodeSetManipulability(
+ const RobotNodeSetPtr& rns,
+ const RobotNodePtr& node,
+ Mode mode,
+ Type type,
+ const RobotNodePtr& coordSystem,
+ Eigen::MatrixXd weightMatrixInit,
+ bool convertMMtoM) :
+ AbstractSingleChainManipulability(mode, type, weightMatrixInit),
+ rns(rns),
+ node(node),
+ coordSystem(coordSystem)
+ {
+ ik.reset(new DifferentialIK(rns, coordSystem, JacobiProvider::eSVDDampedDynamic));
+ ik->convertModelScalingtoM(convertMMtoM);
+ }
-RobotNodeSetPtr SingleRobotNodeSetManipulability::getRobotNodeSet() {
- return rns;
-}
+ RobotNodeSetPtr
+ SingleRobotNodeSetManipulability::getRobotNodeSet()
+ {
+ return rns;
+ }
-RobotPtr SingleRobotNodeSetManipulability::getRobot() {
- return rns->getRobot();
-}
+ RobotPtr
+ SingleRobotNodeSetManipulability::getRobot()
+ {
+ return rns->getRobot();
+ }
-void SingleRobotNodeSetManipulability::setConvertMMtoM(bool value) {
- ik->convertModelScalingtoM(value);
-}
+ void
+ SingleRobotNodeSetManipulability::setConvertMMtoM(bool value)
+ {
+ ik->convertModelScalingtoM(value);
+ }
-Eigen::Vector3f SingleRobotNodeSetManipulability::getLocalPosition() {
- return rns->getTCP()->getPositionInRootFrame();
-}
+ Eigen::Vector3f
+ SingleRobotNodeSetManipulability::getLocalPosition()
+ {
+ return rns->getTCP()->getPositionInRootFrame();
+ }
-Eigen::Vector3f SingleRobotNodeSetManipulability::getGlobalPosition() {
- return rns->getTCP()->getGlobalPosition();
-}
+ Eigen::Vector3f
+ SingleRobotNodeSetManipulability::getGlobalPosition()
+ {
+ return rns->getTCP()->getGlobalPosition();
+ }
-Eigen::Matrix4f SingleRobotNodeSetManipulability::getCoordinateSystem() {
- return coordSystem ? coordSystem->getGlobalPose() : Eigen::Matrix4f::Identity();
-}
+ Eigen::Matrix4f
+ SingleRobotNodeSetManipulability::getCoordinateSystem()
+ {
+ return coordSystem ? coordSystem->getGlobalPose() : Eigen::Matrix4f::Identity();
+ }
-std::vector<std::string> SingleRobotNodeSetManipulability::getJointNames() {
- return rns->getNodeNames();
-}
+ std::vector<std::string>
+ SingleRobotNodeSetManipulability::getJointNames()
+ {
+ return rns->getNodeNames();
+ }
-Eigen::VectorXd SingleRobotNodeSetManipulability::getJointAngles() {
- return rns->getJointValuesEigen().cast<double>();
-}
+ Eigen::VectorXd
+ SingleRobotNodeSetManipulability::getJointAngles()
+ {
+ return rns->getJointValuesEigen().cast<double>();
+ }
-Eigen::VectorXd SingleRobotNodeSetManipulability::getJointLimitsHigh() {
- Eigen::VectorXd jointLimitHi(rns->getSize());
- for (size_t i = 0; i < rns->getSize(); i++)
+ Eigen::VectorXd
+ SingleRobotNodeSetManipulability::getJointLimitsHigh()
{
- RobotNodePtr rn = rns->getNode(i);
- if (rn->isLimitless())
+ Eigen::VectorXd jointLimitHi(rns->getSize());
+ for (size_t i = 0; i < rns->getSize(); i++)
{
- jointLimitHi(i) = 0;
+ RobotNodePtr rn = rns->getNode(i);
+ if (rn->isLimitless())
+ {
+ jointLimitHi(i) = 0;
+ }
+ else
+ jointLimitHi(i) = rn->getJointLimitHi();
}
- else
- jointLimitHi(i) = rn->getJointLimitHi();
- }
- return jointLimitHi;
-}
-
-Eigen::VectorXd SingleRobotNodeSetManipulability::getJointLimitsLow() {
- Eigen::VectorXd jointLimitLo(rns->getSize());
- for (size_t i = 0; i < rns->getSize(); i++)
- {
- RobotNodePtr rn = rns->getNode(i);
- if (rn->isLimitless())
+ return jointLimitHi;
+ }
+
+ Eigen::VectorXd
+ SingleRobotNodeSetManipulability::getJointLimitsLow()
+ {
+ Eigen::VectorXd jointLimitLo(rns->getSize());
+ for (size_t i = 0; i < rns->getSize(); i++)
{
- jointLimitLo(i) = 0;
+ RobotNodePtr rn = rns->getNode(i);
+ if (rn->isLimitless())
+ {
+ jointLimitLo(i) = 0;
+ }
+ else
+ jointLimitLo(i) = rn->getJointLimitLo();
}
- else
- jointLimitLo(i) = rn->getJointLimitLo();
+ return jointLimitLo;
}
- return jointLimitLo;
-}
-
-Eigen::MatrixXd SingleRobotNodeSetManipulability::computeJacobian(IKSolver::CartesianSelection mode) {
- return ik->getJacobianMatrix(node, mode).cast<double>();
-}
-
-
+ Eigen::MatrixXd
+ SingleRobotNodeSetManipulability::computeJacobian(IKSolver::CartesianSelection mode)
+ {
+ return ik->getJacobianMatrix(node, mode).cast<double>();
+ }
-SingleChainManipulability::SingleChainManipulability(const Eigen::Matrix<double, 6, Eigen::Dynamic> &jacobian,
- AbstractManipulability::Mode mode, AbstractManipulability::Type type,
- const Eigen::Matrix<double, Eigen::Dynamic, 1> &jointAngles, const Eigen::VectorXd &jointLimitsHigh, const Eigen::VectorXd &jointLimitsLow,
- const std::vector<std::string> &jointNames,
- const Eigen::Vector3f &globalPosition, const Eigen::Vector3f &localPosition) :
- AbstractSingleChainManipulability(mode, type),
- jacobian(jacobian),
- jointNames(jointNames),
- globalPosition(globalPosition),
- localPosition(localPosition),
- jointAngles(jointAngles),
- jointLimitsHigh(jointLimitsHigh),
- jointLimitsLow(jointLimitsLow)
-{
-}
+ SingleChainManipulability::SingleChainManipulability(
+ const Eigen::Matrix<double, 6, Eigen::Dynamic>& jacobian,
+ AbstractManipulability::Mode mode,
+ AbstractManipulability::Type type,
+ const Eigen::Matrix<double, Eigen::Dynamic, 1>& jointAngles,
+ const Eigen::VectorXd& jointLimitsHigh,
+ const Eigen::VectorXd& jointLimitsLow,
+ const std::vector<std::string>& jointNames,
+ const Eigen::Vector3f& globalPosition,
+ const Eigen::Vector3f& localPosition) :
+ AbstractSingleChainManipulability(mode, type),
+ jacobian(jacobian),
+ jointNames(jointNames),
+ globalPosition(globalPosition),
+ localPosition(localPosition),
+ jointAngles(jointAngles),
+ jointLimitsHigh(jointLimitsHigh),
+ jointLimitsLow(jointLimitsLow)
+ {
+ }
-Eigen::Vector3f SingleChainManipulability::getLocalPosition() {
- return localPosition;
-}
+ Eigen::Vector3f
+ SingleChainManipulability::getLocalPosition()
+ {
+ return localPosition;
+ }
-Eigen::Vector3f SingleChainManipulability::getGlobalPosition() {
- return globalPosition;
-}
+ Eigen::Vector3f
+ SingleChainManipulability::getGlobalPosition()
+ {
+ return globalPosition;
+ }
-Eigen::Matrix4f SingleChainManipulability::getCoordinateSystem() {
- return Eigen::Matrix4f::Identity();
-}
+ Eigen::Matrix4f
+ SingleChainManipulability::getCoordinateSystem()
+ {
+ return Eigen::Matrix4f::Identity();
+ }
-std::vector<std::string> SingleChainManipulability::getJointNames() {
- return jointNames;
-}
+ std::vector<std::string>
+ SingleChainManipulability::getJointNames()
+ {
+ return jointNames;
+ }
-Eigen::VectorXd SingleChainManipulability::getJointAngles() {
- return jointAngles;
-}
+ Eigen::VectorXd
+ SingleChainManipulability::getJointAngles()
+ {
+ return jointAngles;
+ }
-Eigen::VectorXd SingleChainManipulability::getJointLimitsHigh() {
- return jointLimitsHigh;
-}
-
-Eigen::VectorXd SingleChainManipulability::getJointLimitsLow() {
- return jointLimitsLow;
-}
+ Eigen::VectorXd
+ SingleChainManipulability::getJointLimitsHigh()
+ {
+ return jointLimitsHigh;
+ }
-void SingleChainManipulability::setJacobian(const Eigen::Matrix<double, 6, Eigen::Dynamic> &jacobian) {
- this->jacobian = jacobian;
-}
+ Eigen::VectorXd
+ SingleChainManipulability::getJointLimitsLow()
+ {
+ return jointLimitsLow;
+ }
-void SingleChainManipulability::setLocalPosition(const Eigen::Vector3f &localPosition) {
- this->localPosition = localPosition;
-}
+ void
+ SingleChainManipulability::setJacobian(const Eigen::Matrix<double, 6, Eigen::Dynamic>& jacobian)
+ {
+ this->jacobian = jacobian;
+ }
-void SingleChainManipulability::setGlobalPosition(const Eigen::Vector3f &globalPosition) {
- this->globalPosition = globalPosition;
-}
+ void
+ SingleChainManipulability::setLocalPosition(const Eigen::Vector3f& localPosition)
+ {
+ this->localPosition = localPosition;
+ }
-Eigen::MatrixXd SingleChainManipulability::computeJacobian(IKSolver::CartesianSelection mode) {
- return GetJacobianSubMatrix(jacobian, mode);
-}
+ void
+ SingleChainManipulability::setGlobalPosition(const Eigen::Vector3f& globalPosition)
+ {
+ this->globalPosition = globalPosition;
+ }
+ Eigen::MatrixXd
+ SingleChainManipulability::computeJacobian(IKSolver::CartesianSelection mode)
+ {
+ return GetJacobianSubMatrix(jacobian, mode);
+ }
-}
+} // namespace VirtualRobot
diff --git a/VirtualRobot/Obstacle.cpp b/VirtualRobot/Obstacle.cpp
index acc643f34..b0ff271bf 100644
--- a/VirtualRobot/Obstacle.cpp
+++ b/VirtualRobot/Obstacle.cpp
@@ -1,11 +1,11 @@
#include "Obstacle.h"
-#include "CollisionDetection/CollisionModel.h"
+
#include "CollisionDetection/CollisionChecker.h"
+#include "CollisionDetection/CollisionModel.h"
#include "Nodes/RobotNode.h"
#include "Visualization/VisualizationFactory.h"
#include "Visualization/VisualizationNode.h"
-#include <vector>
namespace VirtualRobot
{
@@ -15,8 +15,12 @@ namespace VirtualRobot
// obstacle models start with 20000
int Obstacle::idCounter = 20000;
- Obstacle::Obstacle(const std::string& name, VisualizationNodePtr visualization, CollisionModelPtr collisionModel, const SceneObject::Physics& p, CollisionCheckerPtr colChecker)
- : GraspableSensorizedObject(name, visualization, collisionModel, p, colChecker)
+ Obstacle::Obstacle(const std::string& name,
+ VisualizationNodePtr visualization,
+ CollisionModelPtr collisionModel,
+ const SceneObject::Physics& p,
+ CollisionCheckerPtr colChecker) :
+ GraspableSensorizedObject(name, visualization, collisionModel, p, colChecker)
{
if (name == "")
{
@@ -41,25 +45,35 @@ namespace VirtualRobot
}
}
- Obstacle::Obstacle(const std::string& name, const TriMeshModelPtr& trimesh, const std::string& filename)
- : Obstacle(TagTrimeshCtor{}, name, std::make_shared<VisualizationNode>(trimesh))
+ Obstacle::Obstacle(const std::string& name,
+ const TriMeshModelPtr& trimesh,
+ const std::string& filename) :
+ Obstacle(TagTrimeshCtor{}, name, std::make_shared<VisualizationNode>(trimesh))
{
getVisualization()->setFilename(filename, false);
getCollisionModel()->getVisualization()->setFilename(filename, false);
}
- Obstacle::Obstacle(TagTrimeshCtor, const std::string& name, const VisualizationNodePtr& vis)
- : Obstacle(name, vis, std::make_shared<CollisionModel>(vis))
- {}
+ Obstacle::Obstacle(TagTrimeshCtor, const std::string& name, const VisualizationNodePtr& vis) :
+ Obstacle(name, vis, std::make_shared<CollisionModel>(vis))
+ {
+ }
Obstacle::~Obstacle() = default;
- int Obstacle::getID()
+ int
+ Obstacle::getID()
{
return id;
}
- VirtualRobot::ObstaclePtr Obstacle::createBox(float width, float height, float depth, VisualizationFactory::Color color, std::string visualizationType, CollisionCheckerPtr colChecker)
+ VirtualRobot::ObstaclePtr
+ Obstacle::createBox(float width,
+ float height,
+ float depth,
+ VisualizationFactory::Color color,
+ std::string visualizationType,
+ CollisionCheckerPtr colChecker)
{
ObstaclePtr result;
VisualizationFactoryPtr visualizationFactory;
@@ -90,7 +104,8 @@ namespace VirtualRobot
if (!visu)
{
- VR_ERROR << "Could not create box visualization with visu type " << visualizationType << std::endl;
+ VR_ERROR << "Could not create box visualization with visu type " << visualizationType
+ << std::endl;
return result;
}
@@ -111,8 +126,11 @@ namespace VirtualRobot
return result;
}
-
- VirtualRobot::ObstaclePtr Obstacle::createSphere(float radius, VisualizationFactory::Color color, std::string visualizationType, CollisionCheckerPtr colChecker)
+ VirtualRobot::ObstaclePtr
+ Obstacle::createSphere(float radius,
+ VisualizationFactory::Color color,
+ std::string visualizationType,
+ CollisionCheckerPtr colChecker)
{
ObstaclePtr result;
VisualizationFactoryPtr visualizationFactory;
@@ -141,7 +159,8 @@ namespace VirtualRobot
*/
if (!visu)
{
- VR_ERROR << "Could not create sphere visualization with visu type " << visualizationType << std::endl;
+ VR_ERROR << "Could not create sphere visualization with visu type " << visualizationType
+ << std::endl;
return result;
}
@@ -163,8 +182,12 @@ namespace VirtualRobot
return result;
}
-
- VirtualRobot::ObstaclePtr Obstacle::createCylinder(float radius, float height, VisualizationFactory::Color color, std::string visualizationType, CollisionCheckerPtr colChecker)
+ VirtualRobot::ObstaclePtr
+ Obstacle::createCylinder(float radius,
+ float height,
+ VisualizationFactory::Color color,
+ std::string visualizationType,
+ CollisionCheckerPtr colChecker)
{
ObstaclePtr result;
VisualizationFactoryPtr visualizationFactory;
@@ -193,7 +216,8 @@ namespace VirtualRobot
*/
if (!visu)
{
- VR_ERROR << "Could not create cylinder visualization with visu type " << visualizationType << std::endl;
+ VR_ERROR << "Could not create cylinder visualization with visu type "
+ << visualizationType << std::endl;
return result;
}
@@ -215,8 +239,10 @@ namespace VirtualRobot
return result;
}
-
- VirtualRobot::ObstaclePtr Obstacle::createFromMesh(TriMeshModelPtr mesh, std::string visualizationType, CollisionCheckerPtr colChecker)
+ VirtualRobot::ObstaclePtr
+ Obstacle::createFromMesh(TriMeshModelPtr mesh,
+ std::string visualizationType,
+ CollisionCheckerPtr colChecker)
{
THROW_VR_EXCEPTION_IF(!mesh, "Null data");
@@ -244,7 +270,8 @@ namespace VirtualRobot
if (!visu)
{
- VR_ERROR << "Could not create sphere visualization with visu type " << visualizationType << std::endl;
+ VR_ERROR << "Could not create sphere visualization with visu type " << visualizationType
+ << std::endl;
return result;
}
@@ -264,7 +291,8 @@ namespace VirtualRobot
return result;
}
- void Obstacle::print(bool printDecoration /*= true*/)
+ void
+ Obstacle::print(bool printDecoration /*= true*/)
{
if (printDecoration)
{
@@ -282,7 +310,8 @@ namespace VirtualRobot
}
}
- ObstaclePtr Obstacle::clone(const std::string& name, CollisionCheckerPtr colChecker, float scaling) const
+ ObstaclePtr
+ Obstacle::clone(const std::string& name, CollisionCheckerPtr colChecker, float scaling) const
{
VisualizationNodePtr clonedVisualizationNode;
@@ -298,7 +327,8 @@ namespace VirtualRobot
clonedCollisionModel = collisionModel->clone(colChecker, scaling);
}
- ObstaclePtr result(new Obstacle(name, clonedVisualizationNode, clonedCollisionModel, physics, colChecker));
+ ObstaclePtr result(
+ new Obstacle(name, clonedVisualizationNode, clonedCollisionModel, physics, colChecker));
result->setGlobalPose(getGlobalPose());
result->primitiveApproximation = primitiveApproximation;
@@ -309,7 +339,11 @@ namespace VirtualRobot
return result;
}
- std::string Obstacle::toXML(const std::string& basePath, int tabs, const std::string& modelPathRelative, bool storeSensors)
+ std::string
+ Obstacle::toXML(const std::string& basePath,
+ int tabs,
+ const std::string& modelPathRelative,
+ bool storeSensors)
{
std::stringstream ss;
std::string t = "\t";
@@ -331,15 +365,16 @@ namespace VirtualRobot
return ss.str();
}
-
- std::string Obstacle::getFilename() const
+ std::string
+ Obstacle::getFilename() const
{
return filename;
}
- void Obstacle::setFilename(const std::string& fname)
+ void
+ Obstacle::setFilename(const std::string& fname)
{
this->filename = fname;
}
-} // namespace
+} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/TriMeshModel.cpp b/VirtualRobot/Visualization/TriMeshModel.cpp
index d8d15ddc0..4ae51bb6b 100644
--- a/VirtualRobot/Visualization/TriMeshModel.cpp
+++ b/VirtualRobot/Visualization/TriMeshModel.cpp
@@ -5,23 +5,22 @@
*/
#include "TriMeshModel.h"
-#include "../VirtualRobot.h"
-#include "../DataStructures/nanoflann.hpp"
-#include "../DataStructures/KdTreePointCloud.h"
-
-#include "../Import/MeshImport/AssimpReader.h"
-#include "VisualizationFactory.h"
-#include "VisualizationNode.h"
-
-#include<Eigen/Geometry>
#include <algorithm>
-#include <iostream>
+#include <filesystem>
#include <fstream>
#include <iomanip>
+#include <iostream>
#include <set>
-#include <filesystem>
+#include <Eigen/Geometry>
+
+#include "../DataStructures/KdTreePointCloud.h"
+#include "../DataStructures/nanoflann.hpp"
+#include "../Import/MeshImport/AssimpReader.h"
+#include "../VirtualRobot.h"
+#include "VisualizationFactory.h"
+#include "VisualizationNode.h"
namespace VirtualRobot
{
@@ -30,7 +29,8 @@ namespace VirtualRobot
TriMeshModel::TriMeshModel() = default;
- TriMeshModelPtr TriMeshModel::FromFile(const std::string &str)
+ TriMeshModelPtr
+ TriMeshModel::FromFile(const std::string& str)
{
const auto tolower = [](std::string s)
{
@@ -49,7 +49,7 @@ namespace VirtualRobot
{
VisualizationFactoryPtr visualizationFactory;
visualizationFactory = VisualizationFactory::fromName("inventor", nullptr);
- std::array<char*,1> argv = {nullptr};
+ std::array<char*, 1> argv = {nullptr};
int argc = 0;
visualizationFactory->init(argc, argv.data(), "");
const auto vnode = visualizationFactory->getVisualizationFromFile(str);
@@ -57,8 +57,9 @@ namespace VirtualRobot
}
return nullptr;
}
-
- TriMeshModel TriMeshModel::MakeBox(float a, float b, float c)
+
+ TriMeshModel
+ TriMeshModel::MakeBox(float a, float b, float c)
{
TriMeshModel m;
m.addVertex(0, 0, 0);
@@ -84,17 +85,23 @@ namespace VirtualRobot
addF(4, 5, 1, 0);
return m;
}
- TriMeshModel TriMeshModel::MakePoint(float x, float y, float z)
+
+ TriMeshModel
+ TriMeshModel::MakePoint(float x, float y, float z)
{
std::vector<triangle> tr;
tr.emplace_back(x, y, z);
return {tr};
}
- TriMeshModelPtr TriMeshModel::MakePointPtr(float x, float y, float z)
+
+ TriMeshModelPtr
+ TriMeshModel::MakePointPtr(float x, float y, float z)
{
return std::make_shared<VirtualRobot::TriMeshModel>(MakePoint(x, y, z));
}
- TriMeshModelPtr TriMeshModel::MakePointPtr(const Eigen::Vector3f& p)
+
+ TriMeshModelPtr
+ TriMeshModel::MakePointPtr(const Eigen::Vector3f& p)
{
return MakePointPtr(p.x(), p.y(), p.z());
}
@@ -120,8 +127,6 @@ namespace VirtualRobot
}
}
-
-
/**
* This method adds the vertices \p vertex1,
* \p vertex2 and \p vertex3 to TriMeshModel::vertices and creates a new
@@ -131,15 +136,23 @@ namespace VirtualRobot
* \param vertex2 second vertex to use in the calculation
* \param vertex3 third vertex to use in the calculation
*/
- void TriMeshModel::addTriangleWithFace(const Eigen::Vector3f& vertex1, const Eigen::Vector3f& vertex2, const Eigen::Vector3f& vertex3)
+ void
+ TriMeshModel::addTriangleWithFace(const Eigen::Vector3f& vertex1,
+ const Eigen::Vector3f& vertex2,
+ const Eigen::Vector3f& vertex3)
{
Eigen::Vector3f normal = TriMeshModel::CreateNormal(vertex1, vertex2, vertex3);
addTriangleWithFace(vertex1, vertex2, vertex3, normal);
}
- void TriMeshModel::addTriangleWithFace(
- const Eigen::Vector3f& vertex1, const Eigen::Vector3f& vertex2, const Eigen::Vector3f& vertex3, Eigen::Vector3f normal,
- const VisualizationFactory::Color& color1, const VisualizationFactory::Color& color2, const VisualizationFactory::Color& color3)
+ void
+ TriMeshModel::addTriangleWithFace(const Eigen::Vector3f& vertex1,
+ const Eigen::Vector3f& vertex2,
+ const Eigen::Vector3f& vertex3,
+ Eigen::Vector3f normal,
+ const VisualizationFactory::Color& color1,
+ const VisualizationFactory::Color& color2,
+ const VisualizationFactory::Color& color3)
{
// VR_INFO << vertex1 << "\n\n" << vertex2 << "\n\n" << vertex3 << "\n\n" << std::endl;
this->addVertex(vertex1);
@@ -178,26 +191,40 @@ namespace VirtualRobot
this->addFace(face);
}
- void TriMeshModel::addTriangleWithFace(const Eigen::Vector3f& vertex1, const Eigen::Vector3f& vertex2, const Eigen::Vector3f& vertex3, const Eigen::Vector4f& vertexColor1, const Eigen::Vector4f& vertexColor2, const Eigen::Vector4f& vertexColor3)
+ void
+ TriMeshModel::addTriangleWithFace(const Eigen::Vector3f& vertex1,
+ const Eigen::Vector3f& vertex2,
+ const Eigen::Vector3f& vertex3,
+ const Eigen::Vector4f& vertexColor1,
+ const Eigen::Vector4f& vertexColor2,
+ const Eigen::Vector4f& vertexColor3)
{
Eigen::Vector3f normal = TriMeshModel::CreateNormal(vertex1, vertex2, vertex3);
- VisualizationFactory::Color color1(vertexColor1(0), vertexColor1(1), vertexColor1(2), vertexColor1(4));
- VisualizationFactory::Color color2(vertexColor2(0), vertexColor2(1), vertexColor2(2), vertexColor2(4));
- VisualizationFactory::Color color3(vertexColor3(0), vertexColor3(1), vertexColor3(2), vertexColor3(4));
+ VisualizationFactory::Color color1(
+ vertexColor1(0), vertexColor1(1), vertexColor1(2), vertexColor1(4));
+ VisualizationFactory::Color color2(
+ vertexColor2(0), vertexColor2(1), vertexColor2(2), vertexColor2(4));
+ VisualizationFactory::Color color3(
+ vertexColor3(0), vertexColor3(1), vertexColor3(2), vertexColor3(4));
addTriangleWithFace(vertex1, vertex2, vertex3, normal, color1, color2, color3);
}
- void TriMeshModel::addMesh(const TriMeshModel& mesh)
+ void
+ TriMeshModel::addMesh(const TriMeshModel& mesh)
{
for (const auto& face : mesh.faces)
{
- addTriangleWithFace(mesh.vertices.at(face.id1), mesh.vertices.at(face.id2), mesh.vertices.at(face.id3),
- face.normal, mesh.colors.at(face.idColor1), mesh.colors.at(face.idColor2), mesh.colors.at(face.idColor3));
+ addTriangleWithFace(mesh.vertices.at(face.id1),
+ mesh.vertices.at(face.id2),
+ mesh.vertices.at(face.id3),
+ face.normal,
+ mesh.colors.at(face.idColor1),
+ mesh.colors.at(face.idColor2),
+ mesh.colors.at(face.idColor3));
}
// VR_INFO << " size after : " << vertices.size() << std::endl;
}
-
/**
* This method creates the normal belonging to the vertices \p vertex1,
* \p vertex2 and \p vertex3.
@@ -208,7 +235,10 @@ namespace VirtualRobot
*
* \return normal vector
*/
- Eigen::Vector3f TriMeshModel::CreateNormal(const Eigen::Vector3f& vertex1, const Eigen::Vector3f& vertex2, const Eigen::Vector3f& vertex3)
+ Eigen::Vector3f
+ TriMeshModel::CreateNormal(const Eigen::Vector3f& vertex1,
+ const Eigen::Vector3f& vertex2,
+ const Eigen::Vector3f& vertex3)
{
static bool warningPrinted = false;
// calculate normal
@@ -222,7 +252,8 @@ namespace VirtualRobot
{
if (!warningPrinted)
{
- VR_INFO << ": Warning: tiny normal found in TriMeshModel. This error is printed only once!\n";
+ VR_INFO << ": Warning: tiny normal found in TriMeshModel. This error is printed "
+ "only once!\n";
warningPrinted = true;
}
}
@@ -234,16 +265,17 @@ namespace VirtualRobot
return normal;
}
-
/**
* This method adds a face to the internal data structure TriMeshModel::faces.
*/
- void TriMeshModel::addFace(const MathTools::TriangleFace& face)
+ void
+ TriMeshModel::addFace(const MathTools::TriangleFace& face)
{
faces.push_back(face);
}
- void TriMeshModel::addFace(unsigned int id0, unsigned int id1, unsigned int id2)
+ void
+ TriMeshModel::addFace(unsigned int id0, unsigned int id1, unsigned int id2)
{
MathTools::TriangleFace f;
f.id1 = id0;
@@ -252,11 +284,11 @@ namespace VirtualRobot
addFace(f);
}
-
/**
* This method adds a vertex to the internal data structure TriMeshModel::vertices.
*/
- int TriMeshModel::addVertex(const Eigen::Vector3f& vertex)
+ int
+ TriMeshModel::addVertex(const Eigen::Vector3f& vertex)
{
if (std::isnan(vertex[0]) || std::isnan(vertex[1]) || std::isnan(vertex[2]))
{
@@ -271,27 +303,28 @@ namespace VirtualRobot
/**
* This method adds a normal to the internal data structure TriMeshModel::normals.
*/
- unsigned int TriMeshModel::addNormal(const Eigen::Vector3f& normal)
+ unsigned int
+ TriMeshModel::addNormal(const Eigen::Vector3f& normal)
{
normals.push_back(normal);
return static_cast<unsigned int>(normals.size() - 1);
-
}
/**
* This method adds a color to the internal data structure TriMeshModel::colors
*/
- unsigned int TriMeshModel::addColor(const VisualizationFactory::Color& color)
+ unsigned int
+ TriMeshModel::addColor(const VisualizationFactory::Color& color)
{
colors.push_back(color);
return static_cast<unsigned int>(colors.size() - 1);
-
}
/**
* This method converts and adds a color to the internal data structure TriMeshModel::colors
*/
- unsigned int TriMeshModel::addColor(const Eigen::Vector4f& color)
+ unsigned int
+ TriMeshModel::addColor(const Eigen::Vector4f& color)
{
return addColor(VisualizationFactory::Color(color(0), color(1), color(2), color(3)));
}
@@ -299,18 +332,19 @@ namespace VirtualRobot
/**
* This method converts and adds a color to the internal data structure TriMeshModel::materials
*/
- unsigned int TriMeshModel::addMaterial(const VisualizationFactory::PhongMaterial& material)
+ unsigned int
+ TriMeshModel::addMaterial(const VisualizationFactory::PhongMaterial& material)
{
materials.push_back(material);
return static_cast<unsigned int>(materials.size() - 1);
}
-
/**
* This method clears the internal data structures TriMeshModel::faces and
* TriMeshModel::vertices.
*/
- void TriMeshModel::clear()
+ void
+ TriMeshModel::clear()
{
vertices.clear();
colors.clear();
@@ -319,19 +353,23 @@ namespace VirtualRobot
boundingBox.clear();
}
- unsigned int TriMeshModel::addMissingNormals()
+ unsigned int
+ TriMeshModel::addMissingNormals()
{
int counter = 0;
for (auto& face : faces)
{
- if (face.idNormal1 != UINT_MAX && face.idNormal2 != UINT_MAX && face.idNormal3 != UINT_MAX)
+ if (face.idNormal1 != UINT_MAX && face.idNormal2 != UINT_MAX &&
+ face.idNormal3 != UINT_MAX)
{
continue;
}
- if (face.normal.norm() < 1e-10f || std::isnan(face.normal[0]) || std::isnan(face.normal[1]) || std::isnan(face.normal[2]))
+ if (face.normal.norm() < 1e-10f || std::isnan(face.normal[0]) ||
+ std::isnan(face.normal[1]) || std::isnan(face.normal[2]))
{
- face.normal = CreateNormal(vertices.at(face.id1), vertices.at(face.id2), vertices.at(face.id3));
+ face.normal = CreateNormal(
+ vertices.at(face.id1), vertices.at(face.id2), vertices.at(face.id3));
}
auto normalId = UINT_MAX;
if (face.idNormal1 == UINT_MAX)
@@ -367,7 +405,8 @@ namespace VirtualRobot
return static_cast<unsigned int>(counter);
}
- unsigned int TriMeshModel::addMissingColors(const VisualizationFactory::Color& color)
+ unsigned int
+ TriMeshModel::addMissingColors(const VisualizationFactory::Color& color)
{
mergeVertices();
int counter = 0;
@@ -416,32 +455,32 @@ namespace VirtualRobot
face.idColor3 = getAndAddColorId(face.id3);
counter++;
}
-
}
return static_cast<unsigned int>(counter);
}
- void TriMeshModel::smoothNormalSurface()
+ void
+ TriMeshModel::smoothNormalSurface()
{
mergeVertices();
addMissingNormals();
fattenShrink(0.0f, true);
}
-
/**
* This method calls TriangleFace::flipOrientation() on each entry in
* TriMeshModel::faces.
*/
- void TriMeshModel::flipVertexOrientations()
+ void
+ TriMeshModel::flipVertexOrientations()
{
- std::for_each(faces.begin(), faces.end(), std::mem_fun_ref(&MathTools::TriangleFace::flipOrientation));
+ std::for_each(faces.begin(),
+ faces.end(),
+ std::mem_fun_ref(&MathTools::TriangleFace::flipOrientation));
}
-
-
-
- void TriMeshModel::mergeVertices(float mergeThreshold, bool removeVertices)
+ void
+ TriMeshModel::mergeVertices(float mergeThreshold, bool removeVertices)
{
unsigned int size = static_cast<unsigned int>(vertices.size());
unsigned int faceCount = static_cast<unsigned int>(faces.size());
@@ -458,25 +497,25 @@ namespace VirtualRobot
cloud.pts.reserve(size);
for (unsigned int i = 0; i < size; ++i)
{
- cloud.pts.emplace_back(PointCloud<float>::Point{vertices.at(i)[0],
- vertices.at(i)[1],
- vertices.at(i)[2]});
+ cloud.pts.emplace_back(
+ PointCloud<float>::Point{vertices.at(i)[0], vertices.at(i)[1], vertices.at(i)[2]});
}
using num_t = float;
// construct a kd-tree index:
- typedef nanoflann::KDTreeSingleIndexAdaptor <
- nanoflann::L2_Simple_Adaptor<num_t, PointCloud<num_t> >,
- PointCloud<num_t>,
- 3 /* dim */
- > my_kd_tree_t;
-
- my_kd_tree_t index(3 /*dim*/, cloud, nanoflann::KDTreeSingleIndexAdaptorParams(10 /* max leaf */));
+ typedef nanoflann::KDTreeSingleIndexAdaptor<
+ nanoflann::L2_Simple_Adaptor<num_t, PointCloud<num_t>>,
+ PointCloud<num_t>,
+ 3 /* dim */
+ >
+ my_kd_tree_t;
+
+ my_kd_tree_t index(
+ 3 /*dim*/, cloud, nanoflann::KDTreeSingleIndexAdaptorParams(10 /* max leaf */));
index.buildIndex();
-
const num_t search_radius = static_cast<num_t>(mergeThreshold);
- std::vector<std::pair<size_t, num_t> > ret_matches;
+ std::vector<std::pair<size_t, num_t>> ret_matches;
nanoflann::SearchParams params;
num_t query_pt[3];
@@ -487,7 +526,8 @@ namespace VirtualRobot
query_pt[0] = p1[0];
query_pt[1] = p1[1];
query_pt[2] = p1[2];
- const size_t nMatches = index.radiusSearch(&query_pt[0], search_radius, ret_matches, params);
+ const size_t nMatches =
+ index.radiusSearch(&query_pt[0], search_radius, ret_matches, params);
for (size_t k = 0; k < nMatches; ++k)
{
unsigned int foundIndex = static_cast<unsigned int>(ret_matches.at(k).first);
@@ -567,7 +607,8 @@ namespace VirtualRobot
}
}
- size_t TriMeshModel::removeUnusedVertices()
+ size_t
+ TriMeshModel::removeUnusedVertices()
{
auto size = vertices.size();
auto faceCount = faces.size();
@@ -609,29 +650,33 @@ namespace VirtualRobot
return removed;
}
- std::vector<float> TriMeshModel::getFaceAreas() const
+ std::vector<float>
+ TriMeshModel::getFaceAreas() const
{
std::vector<float> areas;
for (const auto& face : faces)
{
float area = MathTools::getTriangleArea(
- vertices.at(face.id1), vertices.at(face.id2), vertices.at(face.id3));
+ vertices.at(face.id1), vertices.at(face.id2), vertices.at(face.id3));
areas.push_back(area);
}
return areas;
}
- float TriMeshModel::getVolume() const
+ float
+ TriMeshModel::getVolume() const
{
float volume = 0.0f;
for (const auto& face : faces)
{
- volume += std::abs(vertices.at(face.id1).dot(vertices.at(face.id2).cross(vertices.at(face.id3))));
+ volume += std::abs(
+ vertices.at(face.id1).dot(vertices.at(face.id2).cross(vertices.at(face.id3))));
}
return volume;
}
- void TriMeshModel::rotate(const Eigen::Matrix3f& mx)
+ void
+ TriMeshModel::rotate(const Eigen::Matrix3f& mx)
{
for (auto& vec3f : normals)
{
@@ -645,7 +690,8 @@ namespace VirtualRobot
}
}
- void TriMeshModel::fattenShrink(float offset, bool updateNormals)
+ void
+ TriMeshModel::fattenShrink(float offset, bool updateNormals)
{
size_t i;
size_t size = this->faces.size();
@@ -656,10 +702,14 @@ namespace VirtualRobot
auto& p1 = vertices.at(face.id1);
auto& p2 = vertices.at(face.id2);
auto& p3 = vertices.at(face.id3);
- auto normal1 = face.idNormal1 < normals.size() ? normals.at(face.idNormal1) : face.normal;
- auto normal2 = face.idNormal2 < normals.size() ? normals.at(face.idNormal2) : face.normal;
- auto normal3 = face.idNormal3 < normals.size() ? normals.at(face.idNormal3) : face.normal;
- if (std::isnan(face.normal[0]) || std::isnan(face.normal[1]) || std::isnan(face.normal[2]))
+ auto normal1 =
+ face.idNormal1 < normals.size() ? normals.at(face.idNormal1) : face.normal;
+ auto normal2 =
+ face.idNormal2 < normals.size() ? normals.at(face.idNormal2) : face.normal;
+ auto normal3 =
+ face.idNormal3 < normals.size() ? normals.at(face.idNormal3) : face.normal;
+ if (std::isnan(face.normal[0]) || std::isnan(face.normal[1]) ||
+ std::isnan(face.normal[2]))
{
std::cout << "NAN in face " << i << " : " << face.normal << std::endl;
}
@@ -715,7 +765,7 @@ namespace VirtualRobot
{
if (std::isnan(normal[0]) || std::isnan(normal[1]) || std::isnan(normal[2]))
{
- std::cout << "NAN in " << i << " : " << normal << std::endl;
+ std::cout << "NAN in " << i << " : " << normal << std::endl;
}
p += normal * offset;
}
@@ -733,11 +783,10 @@ namespace VirtualRobot
face.idNormal3 = addNormal(averageNormals.at(face.id3));
}
}
-
-
}
- void TriMeshModel::setColor(VisualizationFactory::Color color)
+ void
+ TriMeshModel::setColor(VisualizationFactory::Color color)
{
colors.clear();
for (size_t i = 0; i < vertices.size(); i++)
@@ -746,12 +795,12 @@ namespace VirtualRobot
}
}
-
/**
* This method calculates the center of mass by accumulating all vertices and
* dividing the sum by the number of vertices.
*/
- Eigen::Vector3f TriMeshModel::getCOM()
+ Eigen::Vector3f
+ TriMeshModel::getCOM()
{
Eigen::Vector3f centerOfMass = Eigen::Vector3f::Zero();
@@ -770,7 +819,8 @@ namespace VirtualRobot
return centerOfMass;
}
- bool TriMeshModel::getSize(Eigen::Vector3f& storeMinSize, Eigen::Vector3f& storeMaxSize)
+ bool
+ TriMeshModel::getSize(Eigen::Vector3f& storeMinSize, Eigen::Vector3f& storeMaxSize)
{
if (vertices.size() == 0)
{
@@ -809,7 +859,10 @@ namespace VirtualRobot
*
* \return true if both faces share the same edge and false if not
*/
- bool TriMeshModel::checkFacesHaveSameEdge(const MathTools::TriangleFace& face1, const MathTools::TriangleFace& face2, std::vector<std::pair<int, int> >& commonVertexIds) const
+ bool
+ TriMeshModel::checkFacesHaveSameEdge(const MathTools::TriangleFace& face1,
+ const MathTools::TriangleFace& face2,
+ std::vector<std::pair<int, int>>& commonVertexIds) const
{
commonVertexIds.clear();
Eigen::Vector2i vertexIds;
@@ -876,16 +929,16 @@ namespace VirtualRobot
return (2 == commonVertexIds.size());
}
-
/**
* This method checks if all normals of the model point inwards or outwards and
* flippes the faces which have a wrong orientation.
* \param inverted inverts the check if set to true
* \return the number of flipped faces
*/
- unsigned int TriMeshModel::checkAndCorrectNormals(bool inverted)
+ unsigned int
+ TriMeshModel::checkAndCorrectNormals(bool inverted)
{
- MathTools::TriangleFace* f1, *f2;
+ MathTools::TriangleFace *f1, *f2;
int a1, a2, b1, b2;
int flippedFacesCount = 0;
@@ -903,7 +956,7 @@ namespace VirtualRobot
}
f2 = &(faces[j]);
- std::vector<std::pair<int, int> > commonVertexIds;
+ std::vector<std::pair<int, int>> commonVertexIds;
if (checkFacesHaveSameEdge(*f1, *f2, commonVertexIds))
{
@@ -911,8 +964,10 @@ namespace VirtualRobot
a2 = commonVertexIds[1].first; // second common vertex id face1
b1 = commonVertexIds[0].second; // first common vertex id face
b2 = commonVertexIds[1].second; // second common vertex id face2
- bool bAok = ((a1 == 1 && a2 == 2) || (a1 == 2 && a2 == 3) || (a1 == 3 && a2 == 1));
- bool bBok = ((b1 == 1 && b2 == 3) || (b1 == 3 && b2 == 2) || (b1 == 2 && b2 == 1));
+ bool bAok =
+ ((a1 == 1 && a2 == 2) || (a1 == 2 && a2 == 3) || (a1 == 3 && a2 == 1));
+ bool bBok =
+ ((b1 == 1 && b2 == 3) || (b1 == 3 && b2 == 2) || (b1 == 2 && b2 == 1));
if (inverted)
{
@@ -925,7 +980,7 @@ namespace VirtualRobot
flippedFacesCount++;
f2->flipOrientation();
}
- else if (!bAok && bBok)
+ else if (!bAok && bBok)
{
flippedFacesCount++;
f2->flipOrientation();
@@ -937,36 +992,42 @@ namespace VirtualRobot
return static_cast<unsigned int>(flippedFacesCount);
}
- Eigen::Vector3f TriMeshModel::getNormalOfFace(std::size_t faceId) const
+ Eigen::Vector3f
+ TriMeshModel::getNormalOfFace(std::size_t faceId) const
{
const auto& face = faces.at(faceId);
- if (face.idNormal1 == UINT_MAX || face.idNormal2 == UINT_MAX || face.idNormal3 == UINT_MAX)
+ if (face.idNormal1 == UINT_MAX || face.idNormal2 == UINT_MAX || face.idNormal3 == UINT_MAX)
{
- return (normals.at(face.idNormal1) + normals.at(face.idNormal2) + normals.at(face.idNormal3)).normalized();
+ return (normals.at(face.idNormal1) + normals.at(face.idNormal2) +
+ normals.at(face.idNormal3))
+ .normalized();
}
return face.normal;
}
-
- void TriMeshModel::print()
+ void
+ TriMeshModel::print()
{
- std::cout << "TriMeshModel\nNr of Faces:" << faces.size() << "\nNr of vertices:" << vertices.size() << std::endl;
+ std::cout << "TriMeshModel\nNr of Faces:" << faces.size()
+ << "\nNr of vertices:" << vertices.size() << std::endl;
boundingBox.print();
}
-
- void TriMeshModel::printNormals()
+ void
+ TriMeshModel::printNormals()
{
std::cout << "TriMeshModel Normals:" << std::endl;
std::streamsize pr = cout.precision(2);
for (auto& face : faces)
{
- std::cout << "<" << face.normal(0) << "," << face.normal(1) << "," << face.normal(2) << ">,";
+ std::cout << "<" << face.normal(0) << "," << face.normal(1) << "," << face.normal(2)
+ << ">,";
}
cout.precision(pr);
}
- void TriMeshModel::printVertices()
+ void
+ TriMeshModel::printVertices()
{
std::cout << "TriMeshModel Vertices:" << std::endl;
std::streamsize pr = cout.precision(2);
@@ -977,7 +1038,8 @@ namespace VirtualRobot
cout.precision(pr);
}
- void TriMeshModel::printFaces()
+ void
+ TriMeshModel::printFaces()
{
std::cout << "TriMeshModel Faces (vertex indices):" << std::endl;
std::streamsize pr = cout.precision(2);
@@ -988,8 +1050,8 @@ namespace VirtualRobot
cout.precision(pr);
}
-
- void TriMeshModel::scale(const Eigen::Vector3f& scaleFactor)
+ void
+ TriMeshModel::scale(const Eigen::Vector3f& scaleFactor)
{
if (scaleFactor(0) == 1.0f && scaleFactor(1) == 1.0f && scaleFactor(2) == 1.0f)
{
@@ -1007,19 +1069,22 @@ namespace VirtualRobot
boundingBox.scale(scaleFactor);
}
- void TriMeshModel::scale(float scaleFactor)
+ void
+ TriMeshModel::scale(float scaleFactor)
{
scale(Eigen::Vector3f{scaleFactor, scaleFactor, scaleFactor});
}
- TriMeshModelPtr TriMeshModel::clone() const
+ TriMeshModelPtr
+ TriMeshModel::clone() const
{
Eigen::Vector3f scaleFactor;
scaleFactor << 1.0f, 1.0f, 1.0f;
return clone(scaleFactor);
}
- TriMeshModelPtr TriMeshModel::clone(const Eigen::Vector3f& scaleFactor) const
+ TriMeshModelPtr
+ TriMeshModel::clone(const Eigen::Vector3f& scaleFactor) const
{
TriMeshModelPtr r(new TriMeshModel());
r->vertices = vertices;
@@ -1031,7 +1096,9 @@ namespace VirtualRobot
r->scale(scaleFactor);
return r;
}
- TriMeshModelPtr TriMeshModel::clone(float x, float y, float z) const
+
+ TriMeshModelPtr
+ TriMeshModel::clone(float x, float y, float z) const
{
return clone(Eigen::Vector3f{x, y, z});
}
--
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