2D Medial Axis construction using Segment Delaunay Graph
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| MedialAxis2D () |
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| MedialAxis2D (vector< GMSPolyhedron > &_polys, const Boundary *_b, vector< Boundary * > _bndrys=vector< Boundary * >()) |
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void | AddSegments (vector< pair< Point3d, Point3d > > &_s) |
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void | AddSegments (vector< Point3d > &_p, vector< pair< size_t, size_t > > &_s) |
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void | AddPoints (vector< Point3d > &_p) |
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void | BuildMedialAxis () |
| Filter out medial axis edges.
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tuple< WorkspaceSkeleton, VertexClearanceMapType, EdgeClearanceMapType > | GetSkeleton (size_t _t=0) |
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vector< ClearanceType > | AnnotateSegment (MedialEdge &_e) |
| Calculete the clearance annotation of the interpolated points.
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double | GetVertexClearance (size_t _i) |
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Point3d | GetVertexClearanceWitness (size_t _i) |
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typedef CGAL::Simple_cartesian< double > | CK |
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typedef CGAL::Segment_Delaunay_graph_filtered_traits_2< CK, CGAL::Field_with_sqrt_tag > | Gt |
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typedef CGAL::Segment_Delaunay_graph_2< Gt > | SDG2 |
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typedef SDG2::Site_2 | Site2 |
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typedef SDG2::Point_2 | Point2 |
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typedef SDG2::Edge | Edge2 |
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typedef SDG2::Data_structure | DS |
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typedef Gt::Segment_2 | Segment2 |
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typedef CGAL::Parabola_segment_2< Gt > | Parabola2 |
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typedef pair< double, Point3d > | ClearanceType |
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typedef WorkspaceSkeleton::GraphType | SkeletonGraphType |
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typedef unordered_map< WorkspaceSkeleton::VD, ClearanceType > | VertexClearanceMapType |
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typedef stapl::sequential::graph< stapl::UNDIRECTED, stapl::MULTIEDGES, Point2, MedialEdge > | MedialAxisGraph |
| Underlying medial axis graph type.
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typedef vector< PolygonSegment > | PolygonSegments |
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typedef unordered_map< WorkspaceSkeleton::ED, vector< ClearanceType >, edgeHash > | EdgeClearanceMapType |
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2D Medial Axis construction using Segment Delaunay Graph
◆ AddSegments() [1/2]
void MedialAxis2D::AddSegments |
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vector< pair< Point3d, Point3d > > & |
_s | ) |
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Add a set of insert segments
- Parameters
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◆ AddSegments() [2/2]
void MedialAxis2D::AddSegments |
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vector< Point3d > & |
_p, |
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vector< pair< size_t, size_t > > & |
_s |
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) |
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Add a set of insert segments
- Parameters
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◆ AddPoints()
void MedialAxis2D::AddPoints |
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vector< Point3d > & |
_p | ) |
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Add a set of points
- Parameters
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◆ GetSkeleton()
tuple< WorkspaceSkeleton, MedialAxis2D::VertexClearanceMapType, MedialAxis2D::EdgeClearanceMapType > MedialAxis2D::GetSkeleton |
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size_t |
_t = 0 | ) |
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Get the workspace skeleton from the medial axis
- Parameters
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_t | Pass 0 for entire graph, 1 for free space and 2 for obstacle space |
The documentation for this class was generated from the following files:
- MedialAxis2D.h
- MedialAxis2D.cpp