29#ifndef HPP_CORBASERVER_OBJECT_MAP_HH
30#define HPP_CORBASERVER_OBJECT_MAP_HH
32#include <hpp/fcl/BVH/BVH_model.h>
33#include <hpp/fcl/shape/geometric_shapes.h>
37#include <pinocchio/fwd.hpp>
40namespace corbaServer {
52 std::size_t
addTriangle(
const std::string polyhedronName, std::size_t pt1,
53 std::size_t pt2, std::size_t pt3);
55 CollisionGeometryPtr_t
geometry(
const std::string name) ;
59 std::vector<fcl::Vec3f>
pts;
60 std::vector<fcl::Triangle>
tris;
63 typedef std::map<std::string, BasicShapePtr_t>
ShapeMap_t;
69 template <GeomType geomType, ThrowType throwType>
Definition: object-map.hh:41
std::map< std::string, PolyhedronData > PolyhedronMap_t
Definition: object-map.hh:62
CollisionGeometryPtr_t geometry(const std::string name)
std::map< std::string, BasicShapePtr_t > ShapeMap_t
Definition: object-map.hh:63
void createPolyhedron(const std::string polyhedronName)
bool nameExists(const std::string &name) const
void createCylinder(const std::string name, value_type radius, value_type length)
std::size_t addTriangle(const std::string polyhedronName, std::size_t pt1, std::size_t pt2, std::size_t pt3)
void createBox(const std::string boxName, value_type x, value_type y, value_type z)
GeomType
Definition: object-map.hh:65
@ Polyhedron
Definition: object-map.hh:65
@ BothGeomType
Definition: object-map.hh:65
@ Shape
Definition: object-map.hh:65
PolyhedronMap_t polyhedronMap_
Map of polyhedra in construction.
Definition: object-map.hh:75
ShapeMap_t shapeMap_
Map of basic shapes.
Definition: object-map.hh:73
ThrowType
Definition: object-map.hh:67
@ ThrowIfItDoesNotExist
Definition: object-map.hh:67
@ ThrowIfItExists
Definition: object-map.hh:67
@ NoThrow
Definition: object-map.hh:67
void createSphere(const std::string name, value_type radius)
std::size_t addPoint(const std::string polyhedronName, value_type x, value_type y, value_type z)
pinocchio::value_type value_type
Definition: fwd.hh:109
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
Definition: object-map.hh:58
std::vector< fcl::Triangle > tris
Definition: object-map.hh:60
std::vector< fcl::Vec3f > pts
Definition: object-map.hh:59