Program Listing for File acme_disk.m¶
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% The ACME project %
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% Copyright (c) 2020, Davide Stocco and Enrico Bertolazzi. %
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% The ACME project and its components are supplied under the terms of %
% the open source BSD 2-Clause License. The contents of the ACME %
% project and its components may not be copied or disclosed except in %
% accordance with the terms of the BSD 2-Clause License. %
% %
% URL: https://opensource.org/licenses/BSD-2-Clause %
% %
% Davide Stocco %
% Department of Industrial Engineering %
% University of Trento %
% e-mail: davide.stocco@unitn.it %
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% Enrico Bertolazzi %
% Department of Industrial Engineering %
% University of Trento %
% e-mail: enrico.bertolazzi@unitn.it %
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classdef acme_disk < acme_entity
%>
%> Class container for ACME disk object
%>
methods
%> Create a new C++ pointer to disk object instance
function this = acme_disk( varargin )
this.objectHandle = mex_disk( 'new', varargin{:} );
end
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%> Create C++ pointer to disk object instance
function delete( this )
mex_disk( 'delete', this.objectHandle );
end
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%> Get disk radius
function out = getRadius( this )
out = mex_disk( 'getRadius', this.objectHandle );
end
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%> Get disk center as ACME point object
function out = getCenter( this )
out = acme_point();
out.copyByHandle( mex_disk( 'getCenter', this.objectHandle ) );
end
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%> Get disk normal
function out = getNormal( this )
out = mex_disk( 'getNormal', this.objectHandle );
end
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%> Set disk radius
function setRadius( this, radius )
mex_disk( 'setRadius', this.objectHandle, radius );
end
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%> Set disk center with an ACME point object
function setCenter( this, other_obj )
mex_disk( 'setCenter', this.objectHandle, other_obj.objectHandle );
end
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%> Set disk normal
function setNormal( this, other_obj )
mex_disk( 'setNormal', this.objectHandle, other_obj );
end
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%> Copy segment object from another segment
function copy( this, other_obj )
if (other_obj.type() == "disk")
mex_disk( 'copy', this.objectHandle, other_obj.objectHandle );
else
error('mex_disk::copy(): other_obj must be an ACME disk object type.');
end
end
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%> Copy disk object from another disk handle
function copyByHandle( this, handle )
mex_disk( 'copy', this.objectHandle, handle );
end
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%> Translate disk by vector
function translate( this, other_obj )
mex_disk( 'translate', this.objectHandle, other_obj.objectHandle );
end
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%> Transform disk by 4x4 affine transformation matrix
function transform( this, affine )
mex_disk( 'transform', this.objectHandle, affine );
end
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%> Check if ACME point is inside the disk
function out = isInside( this, other_obj )
if (other_obj.type() == "point")
out = mex_disk( 'isInside', this.objectHandle, other_obj.objectHandle );
else
error('mex_disk::isInside(): other_obj must be an ACME point object type.');
end
end
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%> Check if disk is degenerated
function out = isDegenerated( this )
out = mex_disk( 'isDegenerated', this.objectHandle );
end
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%> Check if disks are approximatively equal
function out = isApprox( this, other_obj )
if (other_obj.type() == "disk")
out = mex_disk( 'isApprox', this.objectHandle, other_obj.objectHandle );
else
error('mex_disk::isApprox(): other_obj must be an ACME disk object type.');
end
end
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%> Normalize disk normal vector
function normalize( this )
mex_disk( 'normalize', this.objectHandle );
end
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%> Get disk laying plane
function out = layingPlane( this )
out = acme_plane();
out.copyByHandle( mex_disk( 'layingPlane', this.objectHandle ) );
end
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%> Reverse disk normal direction
function reverse( this )
mex_disk( 'reverse', this.objectHandle );
end
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%> Get disk minimum and maximum points of object instance
function [out1, out2] = clamp( this )
[out1, out2] = mex_disk( 'clamp', this.objectHandle );
end
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%> Get disk perimeter
function out = perimeter( this )
out = mex_disk( 'perimeter', this.objectHandle );
end
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%> Get disk perimeter
function out = area( this )
out = mex_disk( 'area', this.objectHandle );
end
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%> Check if disk is parallel to an ACME object
function out = isParallel( this, other_obj )
out = mex_disk( 'isParallel', this.objectHandle, other_obj.objectHandle, other_obj.type() );
end
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%> Check if disk is orthogonal to an ACME object
function out = isOrthogonal( this, other_obj )
out = mex_disk( 'isOrthogonal', this.objectHandle, other_obj.objectHandle, other_obj.type() );
end
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%> Check if disk is collinear to an ACME object
function out = isCollinear( this, other_obj )
out = mex_disk( 'isCollinear', this.objectHandle, other_obj.objectHandle, other_obj.type() );
end
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%> Check if disk is coplanar to an ACME object
function out = isCoplanar( this, other_obj )
out = mex_disk( 'isCoplanar', this.objectHandle, other_obj.objectHandle, other_obj.type() );
end
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%> Intersect disk with an ACME object
function out = intersection( this, other_obj )
[handle, type] = mex_disk( 'intersection', this.objectHandle, other_obj.objectHandle, other_obj.type() );
out = eval( strcat( 'acme_', type, '()') );
out.copyByHandle( handle );
end
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%> Display object data
function disp( this )
disp( [ [this.getRadius(), NaN, NaN]', this.getCenter().get(), this.getNormal()] ); %[this.getRadius() 0 0]',
end
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%> Plot disk object
function plot( this, figure_name, color )
radius = this.getRadius();
center = this.getCenter().get();
normal = this.getNormal();
% Original points, original plane
t = linspace(0,2*pi);
x = cos(t)*radius;
y = sin(t)*radius;
z = 0.0*t;
pnts = [x;y;z];
% Unit normal for original plane
n0 = [0 0 1]';
n0 = n0/norm(n0);
% Unit normal for plane to rotate into plane is orthogonal to n1...
% given by equatio: n1(1)*x + n1(2)*y + n1(3)*z = 0
n1 = normal;
n1 = n1/norm(n1);
% Angle between normals
c = dot(n0,n1) / ( norm(n0)*norm(n1) ); % cos(theta)
s = sqrt(1-c*c); % sin(theta)
u = cross(n0,n1) / ( norm(n0)*norm(n1) ); % rotation axis...
u = u/max(1e-12,norm(u)); % ...as unit vector
C = 1-c;
% Rotation matrix
R = [ u(1)^2*C+c, u(1)*u(2)*C-u(3)*s, u(1)*u(3)*C+u(2)*s
u(2)*u(1)*C+u(3)*s, u(2)^2*C+c, u(2)*u(3)*C-u(1)*s
u(3)*u(1)*C-u(2)*s, u(3)*u(2)*C+u(1)*s, u(3)^2*C+c
];
% Rotated points
newPnts = R*pnts;
% Visualize
figure_name;
hold on;
patch( center(1)+newPnts(1,:)', ...
center(2)+newPnts(2,:)', ...
center(3)+newPnts(3,:)', ...
color, 'FaceAlpha', 0.5)
hold off;
end
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%> Get object type as string
function out = type( this )
out = 'disk';
end
end
end
