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3Dtriangle.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University and Steve LaValle.  
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // Iowa State University and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #ifndef MSL_3DTRIANGLE_H
00020 #define MSL_3DTRIANGLE_H
00021 
00022 #include <LEDA/d3_point.h> 
00023 #include <LEDA/polygon.h> 
00024 #include <LEDA/segment.h> 
00025 
00026 #include <LEDA/REDEFINE_NAMES.h>
00027 
00029 
00030 class Triangle{
00031  public:
00032   d3_point p1,p2,p3;
00033 
00034   Triangle(d3_point pt1, d3_point pt2, d3_point pt3);
00035   Triangle();
00036   ~Triangle(){}
00037   Triangle(const Triangle& tr);
00038   friend istream& operator>> (istream& is, Triangle& tr) 
00039     { is >> tr.p1 >> tr.p2 >> tr.p3; return is; }
00040   friend ostream& operator<< (ostream& os, const Triangle& tr)
00041     { os << tr.p1 << " " << tr.p2 << " " << tr.p3 << endl; return os; }
00042   const Triangle& operator= (const Triangle& tr)
00043    { p1=tr.p1; p2=tr.p2; p3=tr.p3; return (*this);}
00044 };
00045 
00046 
00048 list<Triangle> PolygonsToTriangles(const list<polygon> &pl,
00049                                    double thickness);
00050 
00052 list<polygon> TrianglesToPolygons(const list<Triangle> &tl);
00053 
00054 #include <LEDA/UNDEFINE_NAMES.h>
00055 
00056 #endif
Motion Strategy Library


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Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.