msh3DirPDTreeMesh.h

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#ifndef _msh3DirPDTreeMesh_h
#define _msh3DirPDTreeMesh_h
 
#include <cisstMesh/msh3DirPDTreeBase.h>
#include <cisstMesh/msh3Mesh.h>
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3DirPDTreeMesh : public msh3DirPDTreeBase
{
    // Here we define the datum type of the directed covariance
    //  tree to be a triangle and we represent the underlying
    //  datum data using a mesh.
 
    // NOTE: for function overrides, be sure "const" type is same as the base class otherwise,
    //       the base class function will be treated as a different function and not actually
    //       be overridden!
 
 public:
    msh3Mesh Mesh;
    msh3BoundingBox Bounds;
 
    //-- Methods --//
 
    // constructor
    //  mesh      - mesh from which to construct the tree
    //              (each datum in the tree is a triangle of the mesh)
    //  nThresh   - min number of datums in subdivided node
    //  diagThreh - min physical size of subdivided node
    msh3DirPDTreeMesh(msh3Mesh mesh, int nThresh, double diagThresh);
 
    // destructor
    virtual ~ msh3DirPDTreeMesh();
 
    //-- Base Class Method Overrides --//
 
    virtual vct3 DatumSortPoint(int datum);  // return sort point of this datum
 
    virtual vct3 DatumNorm(int datum);       // return normal orientation of this datum
 
    virtual void EnlargeBounds(const vctFrm3& F) const;
    virtual void EnlargeBounds(const vctFrm3& F, msh3DirPDTreeNode *pNode) const;
    virtual void EnlargeBounds(const vctFrm3& F, int datum, msh3BoundingBox& BB) const;
 
    //--- Noise Model Methods ---//
 
    vct3x3& DatumCov(int datum)       // return measurement noise model for this datum
    {
        return Mesh.TriangleCov[datum];
    }
    vct3x3* DatumCovPtr(int datum)    // return measurement noise model for this datum
    {
        return &(Mesh.TriangleCov[datum]);
    }
 
    vct3& DatumCovEig(int datum)         // return measurement noise model for this datum
    {
        return Mesh.TriangleCovEig[datum];
    }
    vct3* DatumCovEigPtr(int datum)      // return measurement noise model for this datum
    {
        return &(Mesh.TriangleCovEig[datum]);
    }
 
};
 
#endif