Public Member Functions
Construction
	TetGenDecomposition ()

	TetGenDecomposition (XMLNode &_node)

Decomposition
const WorkspaceDecomposition *	operator() (const Environment *_env)

Detailed Description

Tetrahedralization of workspace using TetGen library

TetGen offers two levels of courseness - maximally course (default) and 'quality' (use 'q' in switches).

Bug:: Tetgen fails to compute the decomposition if certain obstacles are stuck against the boundary. For example, a cylinder pressed against the environment bounding box will cause tetgen to fail. We would like to understand why and what cases will cause failure, but until that time the work-around is to have the obstacle stick outside of the boundary slightly.

Constructor & Destructor Documentation

TetGenDecomposition::TetGenDecomposition ( XMLNode & _node )

Construct a TetGen decomposer from an XML node.

Parameters

_node The XML node to parse.

const WorkspaceDecomposition * TetGenDecomposition::operator() ( const Environment * _env )

Use tetgen to decompose a given environment.

Parameters

_env	PMPL Environment as workspace.

The documentation for this class was generated from the following files: