#include <hpp/affordance/operations.hh>
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| SupportOperation (const double margin=0.3, const double nbTriMargin=0.3, const double minArea=0.05, const char *affordanceName="Support") |
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bool | requirement (const fcl::Vec3f &normal) |
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| OperationBase () |
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| OperationBase (const double margin=0.3, const double nbTriMargin=0.3, const double minArea=0.05, const char *affordanceName="noAffordance") |
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virtual bool | requirement (const fcl::Vec3f &normal)=0 |
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Class that contains the information needed to create affordance objects of type Support. Inherits the OperationBase class.
◆ SupportOperation()
hpp::affordance::SupportOperation::SupportOperation |
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const double |
margin = 0.3 , |
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const double |
nbTriMargin = 0.3 , |
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const double |
minArea = 0.05 , |
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const char * |
affordanceName = "Support" |
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) |
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inlineexplicit |
Constructor that takes in user-defined parameters
- Parameters
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margin | Margin needed for the evaluation of the requirement function |
nbTriMargin | Margin between two triangles tested for a single affordance surface. If the angle between two triangles is greater than the provided margin, the triangles cannot be part of the same affordance surface. |
minArea | Minimum area needed for the formation of an affordance object |
affordanceName | The name of the affordance type |
◆ requirement()
bool hpp::affordance::SupportOperation::requirement |
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const fcl::Vec3f & |
normal | ) |
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inlinevirtual |
The implementation of the requirement function for Support affordances overrides the virtual function in class OperationBase.
- Parameters
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nromal | Normal vector of the tested triangle. |
Implements hpp::affordance::OperationBase.
The documentation for this class was generated from the following file: