loader.h 3.6 KB
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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  Copyright (c) 2016, CNRS - LAAS
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 *  Copyright (c) 2020, INRIA
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 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

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#ifndef HPP_FCL_MESH_LOADER_LOADER_H
#define HPP_FCL_MESH_LOADER_LOADER_H
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#include <boost/shared_ptr.hpp>
#include <hpp/fcl/fwd.hh>
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#include <hpp/fcl/config.hh>
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#include <hpp/fcl/data_types.h>
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#include <hpp/fcl/collision_object.h>

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namespace hpp
{
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namespace fcl {
  /// Base class for building polyhedron from files.
  /// This class builds a new object for each file.
  class MeshLoader
  {
    public:
      virtual ~MeshLoader() {}

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      virtual BVHModelPtr_t load (const std::string& filename,
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                                  const Vec3f& scale = Vec3f::Ones());
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      /// Create an OcTree from a file in binary octomap format.
      /// \todo add OctreePtr_t
      virtual CollisionGeometryPtr_t loadOctree (const std::string& filename);

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      MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}

    private:
      const NODE_TYPE bvType_;
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  };

  /// Class for building polyhedron from files with cache mechanism.
  /// This class builds a new object for each different file.
  /// If method CachedMeshLoader::load is called twice with the same arguments,
  /// the second call returns the result of the first call.
  class CachedMeshLoader : public MeshLoader
  {
    public:
      virtual ~CachedMeshLoader() {}

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      CachedMeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader (bvType) {}

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      virtual BVHModelPtr_t load (const std::string& filename,
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          const Vec3f& scale);
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      struct Key {
        std::string filename;
        Vec3f scale;

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        Key (const std::string& f, const Vec3f& s)
          : filename (f), scale (s) {}
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        bool operator< (const CachedMeshLoader::Key& b) const;
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      };
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      typedef std::map <Key, BVHModelPtr_t> Cache_t;
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      const Cache_t cache () const { return cache_; }
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    private:
      Cache_t cache_;
  };
}

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} // namespace hpp

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#endif // FCL_MESH_LOADER_LOADER_H