hpp-fcl  1.6.0
HPP fork of FCL -- The Flexible Collision Library
loader.h
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37 
38 #ifndef HPP_FCL_MESH_LOADER_LOADER_H
39 #define HPP_FCL_MESH_LOADER_LOADER_H
40 
41 #include <boost/shared_ptr.hpp>
42 #include <hpp/fcl/fwd.hh>
43 #include <hpp/fcl/config.hh>
44 #include <hpp/fcl/data_types.h>
46 
47 #include <map>
48 
49 namespace hpp
50 {
51 namespace fcl {
55  {
56  public:
57  virtual ~MeshLoader() {}
58 
59  virtual BVHModelPtr_t load (const std::string& filename,
60  const Vec3f& scale = Vec3f::Ones());
61 
64  virtual CollisionGeometryPtr_t loadOctree (const std::string& filename);
65 
66  MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}
67 
68  private:
69  const NODE_TYPE bvType_;
70  };
71 
77  {
78  public:
79  virtual ~CachedMeshLoader() {}
80 
81  CachedMeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader (bvType) {}
82 
83  virtual BVHModelPtr_t load (const std::string& filename,
84  const Vec3f& scale);
85 
87  std::string filename;
89 
90  Key (const std::string& f, const Vec3f& s)
91  : filename (f), scale (s) {}
92 
93  bool operator< (const CachedMeshLoader::Key& b) const;
94  };
95  typedef std::map <Key, BVHModelPtr_t> Cache_t;
96 
97  const Cache_t cache () const { return cache_; }
98  private:
99  Cache_t cache_;
100  };
101 }
102 
103 } // namespace hpp
104 
105 #endif // FCL_MESH_LOADER_LOADER_H
std::map< Key, BVHModelPtr_t > Cache_t
Definition: loader.h:95
virtual ~MeshLoader()
Definition: loader.h:57
CachedMeshLoader(const NODE_TYPE &bvType=BV_OBBRSS)
Definition: loader.h:81
MeshLoader(const NODE_TYPE &bvType=BV_OBBRSS)
Definition: loader.h:66
Definition: collision_object.h:56
Main namespace.
Definition: AABB.h:43
Definition: loader.h:86
boost::shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
Definition: fwd.hh:49
Definition: loader.h:54
std::string filename
Definition: loader.h:87
virtual ~CachedMeshLoader()
Definition: loader.h:79
Key(const std::string &f, const Vec3f &s)
Definition: loader.h:90
const Cache_t cache() const
Definition: loader.h:97
boost::shared_ptr< BVHModelBase > BVHModelPtr_t
Definition: fwd.hh:57
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, capsule, cone, cylinder, convex, plane, triangle), and octree
Definition: collision_object.h:56
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
Vec3f scale
Definition: loader.h:88
Definition: loader.h:76
#define HPP_FCL_DLLAPI
Definition: config.hh:64