Computes volume, area, shape index, center of mass, inertia tensor and principal axes of a polyhedral mesh of constant density. More...

#include <SBGATMassProperties.hpp>

Inheritance diagram for SBGATMassProperties:

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Collaboration diagram for SBGATMassProperties:

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Public Member Functions
	vtkTypeMacro (SBGATMassProperties, vtkPolyDataAlgorithm)

void	PrintSelf (std::ostream &os, vtkIndent indent) override

void	PrintHeader (std::ostream &os, vtkIndent indent) override

void	PrintTrailer (std::ostream &os, vtkIndent indent) override

double	GetVolume () const

double	GetVolumeProjected () const

double	GetVolumeX ()

double	GetVolumeY ()

double	GetVolumeZ ()

double	GetKx () const

double	GetKy () const

double	GetKz () const

double	GetSurfaceArea () const

double	GetMinCellArea () const

double	GetMaxCellArea () const

bool	CheckClosed () const

double	GetNormalizedShapeIndex () const

const arma::vec::fixed< 3 > &	GetCenterOfMass () const

void	GetCenterOfMass (double *com) const

arma::mat::fixed< 3, 3 >	GetNormalizedInertiaTensor () const

arma::mat::fixed< 3, 3 >	GetUnitDensityInertiaTensor () const

arma::mat::fixed< 3, 3 >	GetPrincipalAxes () const

arma::vec::fixed< 3 >	GetPrincipalDimensions () const

arma::vec::fixed< 3 >	GetNormalizedInertiaMoments () const

arma::vec::fixed< 3 >	GetUnitDensityInertiaMoments () const

double	GetAverageRadius () const

void	SaveMassProperties (std::string path) const

double	GetDeltaV (const int &f) const

arma::vec::fixed< 3 >	GetDeltaCM (const int &f) const

arma::mat::fixed< 3, 3 >	GetDeltaIOverDeltaV (const int &f) const

arma::vec::fixed< 6 >	GetDeltaIf (const int &f) const

Public Member Functions inherited from SBGATFilter
	vtkTypeMacro (SBGATFilter, vtkPolyDataAlgorithm)

void	PrintSelf (std::ostream &os, vtkIndent indent) override

void	PrintHeader (std::ostream &os, vtkIndent indent) override

void	PrintTrailer (std::ostream &os, vtkIndent indent) override

void	SetScaleMeters ()

void	SetScaleKiloMeters ()

double	GetScaleFactor () const

void	SetDensity (const double density)

double	GetDensity () const

void	GetVerticesInFacet (const int &f, double r0, double r1, double *r2) const

arma::vec::fixed< 3 >	GetFacetCenter (const int &f) const

void	GetVerticesOnEdge (const int &e, double r0, double r1) const

void	GetFacetNormal (const int &f, double *n) const

void	GetIndicesOfAdjacentFacets (const int &e, int &f0, int &f1) const

void	GetIndicesVerticesOnEdge (const int &e, int &v0, int &v1) const

void	GetIndicesVerticesInFacet (const int &f, int &v0, int &v1, int &v2) const

arma::vec::fixed< 3 >	GetNonNormalizedFacetNormal (const int &f) const

arma::vec::fixed< 3 >	GetRe (const arma::vec::fixed< 3 > &pos, const int &e) const

arma::vec::fixed< 3 >	GetRe (const double *pos, const int &e) const

arma::vec::fixed< 3 >	GetRf (const arma::vec::fixed< 3 > &pos, const int &f) const

arma::vec::fixed< 3 >	GetRf (const double *pos, const int &f) const

void	GetBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax) const

double	GetEdgeLength (const int &e) const

int	GetN_facets () const

int	GetN_edges () const

int	GetN_vertices () const

bool	GetIsInMeters () const

bool	GetIsInKiloMeters () const

Static Public Member Functions
static SBGATMassProperties *	New ()

static void	ComputeAndSaveMassProperties (vtkSmartPointer< vtkPolyData > shape, std::string path)

Static Public Member Functions inherited from SBGATFilter
static SBGATFilter *	New ()

Protected Member Functions
	SBGATMassProperties ()

	~SBGATMassProperties () override

int	RequestData (vtkInformation request, vtkInformationVector inputVector, vtkInformationVector outputVector) override

Protected Member Functions inherited from SBGATFilter
	SBGATFilter ()

	~SBGATFilter () override

void	Clear ()

int	RequestData (vtkInformation request, vtkInformationVector inputVector, vtkInformationVector outputVector) override

Protected Attributes
arma::vec::fixed< 3 >	center_of_mass

arma::mat::fixed< 3, 3 >	inertia_tensor

arma::mat::fixed< 3, 3 >	principal_axes

arma::vec::fixed< 3 >	normalized_principal_moments

arma::vec::fixed< 3 >	unit_density_principal_moments

arma::mat::fixed< 3, 3 >	unit_density_inertia_tensor

arma::vec::fixed< 3 >	principal_dimensions

double	SurfaceArea

double	MinCellArea

double	MaxCellArea

double	Volume

double	VolumeProjected

double	VolumeX

double	VolumeY

double	VolumeZ

double	Kx

double	Ky

double	Kz

double	NormalizedShapeIndex

double	r_avg

bool	IsClosed

Protected Attributes inherited from SBGATFilter
double **	facet_normals

double **	vertices

double	scaleFactor = 1

double	density

int **	edges

int **	facets

int **	edge_facets_ids

bool	is_in_meters = true

int	N_facets

int	N_edges

int	N_vertices

double	bounds [6]

Private Member Functions
	SBGATMassProperties (const SBGATMassProperties &)=delete

void	operator= (const SBGATMassProperties &)=delete

Detailed Description

Computes volume, area, shape index, center of mass, inertia tensor and principal axes of a polyhedral mesh of constant density.

Author: Benjamin Bercovici; Jay McMahon

Computes the volume, the surface area, and the normalized shape index, center of mass and inertia tensor of a topologically-closed, constant-density polyhedron. This class will always use results expressed in meters as their distance unit (e.g center-of-mass coordinates in meters, volume in m^3,...) . Unit consistency is enforced through the use of the SetScaleMeters() and SetScaleKiloMeters() method.

See "Inertia of Any Polyhedron" by Anthony R. Dobrovolskis, Icarus 124, 698–704 (1996) Article No. 0243 for further details. Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen

Copyright: MIT License, Benjamin Bercovici and Jay McMahon

Definition at line 42 of file SBGATMassProperties.hpp.

Constructor & Destructor Documentation

◆ SBGATMassProperties() [1/2]

SBGATMassProperties::SBGATMassProperties ( )

protected

Definition at line 56 of file SBGATMassProperties.cpp.

◆ ~SBGATMassProperties()

SBGATMassProperties::~SBGATMassProperties ( )

overrideprotected

Definition at line 75 of file SBGATMassProperties.cpp.

◆ SBGATMassProperties() [2/2]

SBGATMassProperties::SBGATMassProperties ( const SBGATMassProperties & )

privatedelete

Member Function Documentation

◆ CheckClosed()

bool SBGATMassProperties::CheckClosed ( ) const

inline

Checks whether the polydata is topologically closed or open If closed, the sum of the oriented surface area should be equal to zero

Definition at line 107 of file SBGATMassProperties.hpp.

◆ ComputeAndSaveMassProperties()

void SBGATMassProperties::ComputeAndSaveMassProperties	(	vtkSmartPointer< vtkPolyData >	shape,
		std::string	path
	)

static

Computes the mass properties of the provided shape and saves the results to a JSON file

Parameters

shape	pointer to considered shape
path	savepath (ex: "mass_properties.json")

Definition at line 401 of file SBGATMassProperties.cpp.

◆ GetAverageRadius()

double SBGATMassProperties::GetAverageRadius ( ) const

inline

Return the average radius of the shape (that is, the radius of a sphere occupying the same volume) (m)

Definition at line 199 of file SBGATMassProperties.hpp.

◆ GetCenterOfMass() [1/2]

const arma::vec::fixed<3>& SBGATMassProperties::GetCenterOfMass ( ) const

inline

Compute and return the coordinates of the center of mass (m) evaluated in the frame of origin assuming a constant density distribution across the shape

Definition at line 124 of file SBGATMassProperties.hpp.

◆ GetCenterOfMass() [2/2]

void SBGATMassProperties::GetCenterOfMass ( double * com ) const

inline

Compute and return the coordinates of the center of mass (m) evaluated in the frame of origin assuming a constant density distribution across the shape

Definition at line 133 of file SBGATMassProperties.hpp.

◆ GetDeltaCM()

arma::vec::fixed< 3 > SBGATMassProperties::GetDeltaCM ( const int & f ) const

Return coordinates of the tetrahedron's center-of-mass (m)

Parameters

f	facet index

Returns: coordinates of tetrahedron

Definition at line 543 of file SBGATMassProperties.cpp.

◆ GetDeltaIf()

arma::vec::fixed< 6 > SBGATMassProperties::GetDeltaIf ( const int & f ) const

Return the parametrization of the the unit-density tetrahedron's inertia tensor

Parameters

f	facet index

Returns: parametrization of the tetrahedron's inertia tensor

Definition at line 583 of file SBGATMassProperties.cpp.

◆ GetDeltaIOverDeltaV()

arma::mat::fixed< 3, 3 > SBGATMassProperties::GetDeltaIOverDeltaV ( const int & f ) const

Return the unit-density tetrahedron's inertia tensor divided by tetrahedron's signed volume (m^2)

Parameters

f	facet index

Returns: tetrahedron's inertia tensor divided by tetrahedron's signed volume

Definition at line 559 of file SBGATMassProperties.cpp.

◆ GetDeltaV()

double SBGATMassProperties::GetDeltaV ( const int & f ) const

Return signed contribution to total volume of tetrahedron subtended by facet f (m^3)

Parameters

f	facet index

Returns: signed volume of tetrahedron subtended by facet

Definition at line 529 of file SBGATMassProperties.cpp.

◆ GetKx()

double SBGATMassProperties::GetKx ( ) const

inline

Compute and return the weighting factors for the maximum unit normal component (MUNC).

Definition at line 80 of file SBGATMassProperties.hpp.

◆ GetKy()

double SBGATMassProperties::GetKy ( ) const

inline

Definition at line 81 of file SBGATMassProperties.hpp.

◆ GetKz()

double SBGATMassProperties::GetKz ( ) const

inline

Definition at line 82 of file SBGATMassProperties.hpp.

◆ GetMaxCellArea()

double SBGATMassProperties::GetMaxCellArea ( ) const

inline

Compute and return the max cell area in m^2

Definition at line 99 of file SBGATMassProperties.hpp.

◆ GetMinCellArea()

double SBGATMassProperties::GetMinCellArea ( ) const

inline

Compute and return the min cell area in m^2

Definition at line 93 of file SBGATMassProperties.hpp.

◆ GetNormalizedInertiaMoments()

arma::vec::fixed<3> SBGATMassProperties::GetNormalizedInertiaMoments ( ) const

inline

Compute and return the normalized inertia moments assuming uniform density distribution across the shape, sorted from the smallest inertia to the largest. The normalization applied to the inertia tensor is I_norm = I / (mass * r_avg ^ 2) where r_avg = cbrt(3/4*Volume/pi)

Definition at line 184 of file SBGATMassProperties.hpp.

◆ GetNormalizedInertiaTensor()

arma::mat::fixed<3,3> SBGATMassProperties::GetNormalizedInertiaTensor ( ) const

inline

Compute and return the dimensionless inertia tensor evaluated in the frame of origin assuming a constant density distribution across the shape. The normalization applied to the inertia tensor is I_norm = I / (mass * r_avg ^ 2) where r_avg = cbrt(3/4*Volume/pi)

Definition at line 145 of file SBGATMassProperties.hpp.

◆ GetNormalizedShapeIndex()

double SBGATMassProperties::GetNormalizedShapeIndex ( ) const

inline

Compute and return the normalized shape index. This characterizes the deviation of the shape of an object from a sphere. A sphere's NSI is one. This number is always >= 1.0.

Definition at line 114 of file SBGATMassProperties.hpp.

◆ GetPrincipalAxes()

arma::mat::fixed<3,3> SBGATMassProperties::GetPrincipalAxes ( ) const

inline

Compute and return the dcm orienting the principal axes of the small body relative to the body coordinates frame. That is, denoting P the principal frame and B the frame in which the coordinates of the body are currently expressed, this method returns [PB]

Returns: [PB] direction cosine matrix

Definition at line 165 of file SBGATMassProperties.hpp.

◆ GetPrincipalDimensions()

arma::vec::fixed<3> SBGATMassProperties::GetPrincipalDimensions ( ) const

inline

Computes and returns the principal dimensions (m) of the ellipsoid associated with the inertia tensor tensor, sorted from the longest (smallest inertia) to shortest (largest inertia)

Returns: principal dimensions associated with inertia tensor (m)

Definition at line 174 of file SBGATMassProperties.hpp.

◆ GetSurfaceArea()

double SBGATMassProperties::GetSurfaceArea ( ) const

inline

Compute and return the area in m^2

Definition at line 87 of file SBGATMassProperties.hpp.

◆ GetUnitDensityInertiaMoments()

arma::vec::fixed<3> SBGATMassProperties::GetUnitDensityInertiaMoments ( ) const

inline

Compute and return the inertia moments assuming uniform unit density distribution across the shape, sorted from the smallest inertia to the largest.

Definition at line 192 of file SBGATMassProperties.hpp.

◆ GetUnitDensityInertiaTensor()

arma::mat::fixed<3,3> SBGATMassProperties::GetUnitDensityInertiaTensor ( ) const

inline

Compute and return the dimensionless inertia tensor evaluated in the frame of origin assuming a constant density distribution across the shape. The normalization applied to the inertia tensor is I_norm = I / (rho) where rho is the density

Definition at line 154 of file SBGATMassProperties.hpp.

◆ GetVolume()

double SBGATMassProperties::GetVolume ( ) const

inline

Compute and return the volume (m^3)

Definition at line 57 of file SBGATMassProperties.hpp.

◆ GetVolumeProjected()

double SBGATMassProperties::GetVolumeProjected ( ) const

inline

Compute and return the projected volume. Typically you should compare this volume to the value returned by GetVolume if you get an error (GetVolume()-GetVolumeProjected())*10000 that is greater than GetVolume() this should identify a problem:

Either the polydata is not closed
Or the polydata contains triangle that are flipped

Definition at line 67 of file SBGATMassProperties.hpp.

◆ GetVolumeX()

double SBGATMassProperties::GetVolumeX ( )

inline

Compute and return the volume projected on to each axis aligned plane.

Definition at line 72 of file SBGATMassProperties.hpp.

◆ GetVolumeY()

double SBGATMassProperties::GetVolumeY ( )

inline

Definition at line 73 of file SBGATMassProperties.hpp.

◆ GetVolumeZ()

double SBGATMassProperties::GetVolumeZ ( )

inline

Definition at line 74 of file SBGATMassProperties.hpp.

◆ New()

static SBGATMassProperties* SBGATMassProperties::New ( )

static

Constructs with initial values of zero.

◆ operator=()

void SBGATMassProperties::operator= ( const SBGATMassProperties & )

privatedelete

◆ PrintHeader()

void SBGATMassProperties::PrintHeader	(	std::ostream &	os,
		vtkIndent	indent
	)

override

Definition at line 367 of file SBGATMassProperties.cpp.

◆ PrintSelf()

void SBGATMassProperties::PrintSelf	(	std::ostream &	os,
		vtkIndent	indent
	)

override

Definition at line 376 of file SBGATMassProperties.cpp.

◆ PrintTrailer()

void SBGATMassProperties::PrintTrailer	(	std::ostream &	os,
		vtkIndent	indent
	)

override

Definition at line 370 of file SBGATMassProperties.cpp.

◆ RequestData()

int SBGATMassProperties::RequestData	(	vtkInformation *	request,
		vtkInformationVector **	inputVector,
		vtkInformationVector *	outputVector
	)

overrideprotected

Definition at line 85 of file SBGATMassProperties.cpp.

◆ SaveMassProperties()

void SBGATMassProperties::SaveMassProperties ( std::string path ) const

Save the computed mass properties to a JSON file

Parameters

path	savepath (ex: "mass_properties.json")

Definition at line 413 of file SBGATMassProperties.cpp.

◆ vtkTypeMacro()

SBGATMassProperties::vtkTypeMacro	(	SBGATMassProperties	,
		vtkPolyDataAlgorithm
	)

Member Data Documentation

◆ center_of_mass

arma::vec::fixed<3> SBGATMassProperties::center_of_mass

protected

Definition at line 261 of file SBGATMassProperties.hpp.

◆ inertia_tensor

arma::mat::fixed<3,3> SBGATMassProperties::inertia_tensor

protected

Definition at line 262 of file SBGATMassProperties.hpp.

◆ IsClosed

bool SBGATMassProperties::IsClosed

protected

Definition at line 284 of file SBGATMassProperties.hpp.

◆ Kx

double SBGATMassProperties::Kx

protected

Definition at line 279 of file SBGATMassProperties.hpp.

◆ Ky

double SBGATMassProperties::Ky

protected

Definition at line 280 of file SBGATMassProperties.hpp.

◆ Kz

double SBGATMassProperties::Kz

protected

Definition at line 281 of file SBGATMassProperties.hpp.

◆ MaxCellArea

double SBGATMassProperties::MaxCellArea

protected

Definition at line 273 of file SBGATMassProperties.hpp.

◆ MinCellArea

double SBGATMassProperties::MinCellArea

protected

Definition at line 272 of file SBGATMassProperties.hpp.

◆ normalized_principal_moments

arma::vec::fixed<3> SBGATMassProperties::normalized_principal_moments

protected

Definition at line 265 of file SBGATMassProperties.hpp.

◆ NormalizedShapeIndex

double SBGATMassProperties::NormalizedShapeIndex

protected

Definition at line 282 of file SBGATMassProperties.hpp.

◆ principal_axes

arma::mat::fixed<3,3> SBGATMassProperties::principal_axes

protected

Definition at line 263 of file SBGATMassProperties.hpp.

◆ principal_dimensions

arma::vec::fixed<3> SBGATMassProperties::principal_dimensions

protected

Definition at line 268 of file SBGATMassProperties.hpp.

◆ r_avg

double SBGATMassProperties::r_avg

protected

Definition at line 283 of file SBGATMassProperties.hpp.

◆ SurfaceArea

double SBGATMassProperties::SurfaceArea

protected

Definition at line 271 of file SBGATMassProperties.hpp.

◆ unit_density_inertia_tensor

arma::mat::fixed<3,3> SBGATMassProperties::unit_density_inertia_tensor

protected

Definition at line 267 of file SBGATMassProperties.hpp.

◆ unit_density_principal_moments

arma::vec::fixed<3> SBGATMassProperties::unit_density_principal_moments

protected

Definition at line 266 of file SBGATMassProperties.hpp.

◆ Volume

double SBGATMassProperties::Volume

protected

Definition at line 274 of file SBGATMassProperties.hpp.

◆ VolumeProjected

double SBGATMassProperties::VolumeProjected

protected

Definition at line 275 of file SBGATMassProperties.hpp.

◆ VolumeX

double SBGATMassProperties::VolumeX

protected

Definition at line 276 of file SBGATMassProperties.hpp.

◆ VolumeY

double SBGATMassProperties::VolumeY

protected

Definition at line 277 of file SBGATMassProperties.hpp.

◆ VolumeZ

double SBGATMassProperties::VolumeZ

protected

Definition at line 278 of file SBGATMassProperties.hpp.

The documentation for this class was generated from the following files:

/Users/bbercovici/GDrive/CUBoulder/Research/code/SBGAT/SbgatCore/include/SbgatCore/SBGATMassProperties.hpp
/Users/bbercovici/GDrive/CUBoulder/Research/code/SBGAT/SbgatCore/source/SBGATMassProperties.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SBGATMassProperties() [1/2]

◆ ~SBGATMassProperties()

◆ SBGATMassProperties() [2/2]

Member Function Documentation

◆ CheckClosed()

◆ ComputeAndSaveMassProperties()

◆ GetAverageRadius()

◆ GetCenterOfMass() [1/2]

◆ GetCenterOfMass() [2/2]

◆ GetDeltaCM()

◆ GetDeltaIf()

◆ GetDeltaIOverDeltaV()

◆ GetDeltaV()

◆ GetKx()

◆ GetKy()

◆ GetKz()

◆ GetMaxCellArea()

◆ GetMinCellArea()

◆ GetNormalizedInertiaMoments()

◆ GetNormalizedInertiaTensor()

◆ GetNormalizedShapeIndex()

◆ GetPrincipalAxes()

◆ GetPrincipalDimensions()

◆ GetSurfaceArea()

◆ GetUnitDensityInertiaMoments()

◆ GetUnitDensityInertiaTensor()

◆ GetVolume()

◆ GetVolumeProjected()

◆ GetVolumeX()

◆ GetVolumeY()

◆ GetVolumeZ()

◆ New()

◆ operator=()

◆ PrintHeader()

◆ PrintSelf()

◆ PrintTrailer()

◆ RequestData()

◆ SaveMassProperties()

◆ vtkTypeMacro()

Member Data Documentation

◆ center_of_mass

◆ inertia_tensor

◆ IsClosed

◆ Kx

◆ Ky

◆ Kz

◆ MaxCellArea

◆ MinCellArea

◆ normalized_principal_moments

◆ NormalizedShapeIndex

◆ principal_axes

◆ principal_dimensions

◆ r_avg

◆ SurfaceArea

◆ unit_density_inertia_tensor

◆ unit_density_principal_moments

◆ Volume

◆ VolumeProjected

◆ VolumeX

◆ VolumeY

◆ VolumeZ