Tesseract Geometry Package

Background

This package contains geometries used by Tesseract

Features

1. Primitive Shapes
   • Box
   • Cone
   • Capsule
   • Cylinder
   • Plane
   • Sphere
2. Mesh
3. Convex Mesh
4. SDF Mesh
5. Octree

Creating Geometry Shapes

Example Explanation

1. Create a box.

2. Create a cone.

3. Create a capsule.

4. Create a cylinder.

5. Create a plane.

6. Create a sphere.

7. Create a mesh.

   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 interperated as the collision object it will be encoded as a signed distance field.

   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.

   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.

    Note

    It is benificial to prune the octree prior to creating the tesseract octree shap 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