Merge pull request #155 from jmirabel/devel

Add MeshLoader::loadOctree

include/hpp/fcl/mesh_loader/loader.h

@@ -57,6 +57,10 @@ namespace fcl {
       virtual BVHModelPtr_t load (const std::string& filename,
                                   const Vec3f& scale = Vec3f::Ones());
 
+      /// Create an OcTree from a file in binary octomap format.
+      /// \todo add OctreePtr_t
+      virtual CollisionGeometryPtr_t loadOctree (const std::string& filename);
+
       MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}
 
     private:

python/fcl.cc

@@ -51,8 +51,10 @@
 #endif
 
 #include "../doc/python/doxygen.hh"
+#include "../doc/python/doxygen-boost.hh"
 
 using namespace hpp::fcl;
+namespace dv = doxygen::visitor;
 
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads,MeshLoader::load,1,2)
 
@@ -69,6 +71,7 @@ void exposeMeshLoader ()
       .def ("load",&MeshLoader::load,
             load_overloads((arg("self"),arg("filename"),arg("scale")),
                            doxygen::member_func_doc(&MeshLoader::load)))
+      .def (dv::member_func("loadOctree",&MeshLoader::loadOctree))
       ;
   }
 

src/mesh_loader/loader.cpp

@@ -37,6 +37,10 @@
 #include <hpp/fcl/mesh_loader/loader.h>
 #include <hpp/fcl/mesh_loader/assimp.h>
 
+#ifdef HPP_FCL_HAVE_OCTOMAP
+# include <hpp/fcl/octree.h>
+#endif
+
 #include <hpp/fcl/BV/BV.h>
 
 namespace hpp
@@ -77,6 +81,16 @@ namespace fcl {
     }
   }
 
+  CollisionGeometryPtr_t MeshLoader::loadOctree (const std::string& filename)
+  {
+#ifdef HPP_FCL_HAVE_OCTOMAP
+    boost::shared_ptr<octomap::OcTree> octree (new octomap::OcTree (filename));
+    return CollisionGeometryPtr_t (new hpp::fcl::OcTree (octree));
+#else
+    throw std::logic_error("hpp-fcl compiled without OctoMap. Cannot create OcTrees.");
+#endif
+  }
+
   BVHModelPtr_t CachedMeshLoader::load (const std::string& filename,
       const Vec3f& scale)
   {