Tesseract Geometry Package

Background

This package contains geometry types used by Tesseract including primitive shapes, mesh, convex hull mesh, octomap and signed distance field.

Features

1. Primitive Shapes

   • Box

   • Cone

   • Capsule

   • Cylinder

   • Plane

   • Sphere

2. Mesh

3. Convex Mesh

4. SDF Mesh

5. Octree

Creating Geometry Shapes

#include <console_bridge/console.h>
#include <tesseract_geometry/geometries.h>
#include <iostream>

using namespace tesseract_geometry;

int main(int /*argc*/, char** /*argv*/)
{
  // Shape Box
  auto box = std::make_shared<tesseract_geometry::Box>(1, 1, 1);
  // Shape Cone
  auto cone = std::make_shared<tesseract_geometry::Cone>(1, 1);
  // Shape Capsule
  auto capsule = std::make_shared<tesseract_geometry::Capsule>(1, 1);
  // Shape Cylinder
  auto cylinder = std::make_shared<tesseract_geometry::Cylinder>(1, 1);
  // Shape Plane
  auto plane = std::make_shared<tesseract_geometry::Plane>(1, 1, 1, 1);
  // Shape Sphere
  auto sphere = std::make_shared<tesseract_geometry::Sphere>(1);

  // Manually create mesh
  std::shared_ptr<const tesseract_common::VectorVector3d> mesh_vertices =
      std::make_shared<const tesseract_common::VectorVector3d>();
  std::shared_ptr<const Eigen::VectorXi> mesh_faces = std::make_shared<const Eigen::VectorXi>();
  // Next fill out vertices and triangles
  auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);

  // Manually create signed distance field mesh
  std::shared_ptr<const tesseract_common::VectorVector3d> sdf_vertices =
      std::make_shared<const tesseract_common::VectorVector3d>();
  std::shared_ptr<const Eigen::VectorXi> sdf_faces = std::make_shared<const Eigen::VectorXi>();
  // Next fill out vertices and triangles
  auto sdf_mesh = std::make_shared<tesseract_geometry::SDFMesh>(sdf_vertices, sdf_faces);

  // Manually create convex mesh
  std::shared_ptr<const tesseract_common::VectorVector3d> convex_vertices =
      std::make_shared<const tesseract_common::VectorVector3d>();
  std::shared_ptr<const Eigen::VectorXi> convex_faces = std::make_shared<const Eigen::VectorXi>();
  // Next fill out vertices and triangles
  auto convex_mesh = std::make_shared<tesseract_geometry::ConvexMesh>(convex_vertices, convex_faces);

  // Create an octree
  std::shared_ptr<const octomap::OcTree> octree;
  auto octree_t = std::make_shared<tesseract_geometry::Octree>(octree, tesseract_geometry::Octree::SubType::BOX);
}

Example Explanation

1. Create a box.

     auto box = std::make_shared<tesseract_geometry::Box>(1, 1, 1);
   

2. Create a cone.

     auto cone = std::make_shared<tesseract_geometry::Cone>(1, 1);
   

3. Create a capsule.

     auto capsule = std::make_shared<tesseract_geometry::Capsule>(1, 1);
   

4. Create a cylinder.

     auto cylinder = std::make_shared<tesseract_geometry::Cylinder>(1, 1);
   

5. Create a plane.

     auto plane = std::make_shared<tesseract_geometry::Plane>(1, 1, 1, 1);
   

6. Create a sphere.

     auto sphere = std::make_shared<tesseract_geometry::Sphere>(1);
   

7. Create a mesh.

     std::shared_ptr<const tesseract_common::VectorVector3d> mesh_vertices =
         std::make_shared<const tesseract_common::VectorVector3d>();
     std::shared_ptr<const Eigen::VectorXi> mesh_faces = std::make_shared<const Eigen::VectorXi>();
     // Next fill out vertices and triangles
     auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
   

   Note

   This shows how to create a mesh provided vertices and faces. You may also use utilities in tesseract_scene_graph mesh parser to load meshes from file.

8. Create a signed distance field mesh.

   Note

   This should be the same as a mesh, but when interpreted as the collision object it will be encoded as a signed distance field.

     std::shared_ptr<const tesseract_common::VectorVector3d> sdf_vertices =
         std::make_shared<const tesseract_common::VectorVector3d>();
     std::shared_ptr<const Eigen::VectorXi> sdf_faces = std::make_shared<const Eigen::VectorXi>();
     // Next fill out vertices and triangles
     auto sdf_mesh = std::make_shared<tesseract_geometry::SDFMesh>(sdf_vertices, sdf_faces);
   

   Note

   This shows how to create a SDF mesh provided vertices and faces. You may also use utilities in tesseract_scene_graph mesh parser to load meshes from file.

9. Create a convex mesh.

   Warning

   This expects the data to already represent a convex mesh. If yours does not load as a mesh and then use tesseract utility to convert to a convex mesh.

     std::shared_ptr<const tesseract_common::VectorVector3d> convex_vertices =
         std::make_shared<const tesseract_common::VectorVector3d>();
     std::shared_ptr<const Eigen::VectorXi> convex_faces = std::make_shared<const Eigen::VectorXi>();
     // Next fill out vertices and triangles
     auto convex_mesh = std::make_shared<tesseract_geometry::ConvexMesh>(convex_vertices, convex_faces);
   

   Note

   This shows how to create a convex mesh provided vertices and faces. You may also use utilities in tesseract_scene_graph mesh parser to load meshes from file.

10. Create an octree.

      std::shared_ptr<const octomap::OcTree> octree;
      auto octree_t = std::make_shared<tesseract_geometry::Octree>(octree, tesseract_geometry::Octree::SubType::BOX);
    

    Note

    It is beneficial to prune the octree prior to creating the tesseract octree shape to simplify

    Octree support multiple shape types to represent a cell in the octree.

    • BOX tesseract_geometry::Octree::SubType::BOX

    • SPHERE_INSIDE tesseract_geometry::Octree::SubType::SPHERE_INSIDE

    • SPHERE_OUTSIDE tesseract_geometry::Octree::SubType::SPHERE_OUTSIDE