hpp-fcl  1.7.4
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 <hpp/fcl/fwd.hh>
42 #include <hpp/fcl/config.hh>
43 #include <hpp/fcl/data_types.h>
45 
46 #include <map>
47 
48 namespace hpp
49 {
50 namespace fcl {
54  {
55  public:
56  virtual ~MeshLoader() {}
57 
58  virtual BVHModelPtr_t load (const std::string& filename,
59  const Vec3f& scale = Vec3f::Ones());
60 
63  virtual CollisionGeometryPtr_t loadOctree (const std::string& filename);
64 
65  MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}
66 
67  private:
68  const NODE_TYPE bvType_;
69  };
70 
76  {
77  public:
78  virtual ~CachedMeshLoader() {}
79 
80  CachedMeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader (bvType) {}
81 
82  virtual BVHModelPtr_t load (const std::string& filename,
83  const Vec3f& scale);
84 
86  std::string filename;
88 
89  Key (const std::string& f, const Vec3f& s)
90  : filename (f), scale (s) {}
91 
92  bool operator< (const CachedMeshLoader::Key& b) const;
93  };
94  typedef std::map <Key, BVHModelPtr_t> Cache_t;
95 
96  const Cache_t & cache () const { return cache_; }
97  private:
98  Cache_t cache_;
99  };
100 }
101 
102 } // namespace hpp
103 
104 #endif // FCL_MESH_LOADER_LOADER_H
std::map< Key, BVHModelPtr_t > Cache_t
Definition: loader.h:94
virtual ~MeshLoader()
Definition: loader.h:56
CachedMeshLoader(const NODE_TYPE &bvType=BV_OBBRSS)
Definition: loader.h:80
MeshLoader(const NODE_TYPE &bvType=BV_OBBRSS)
Definition: loader.h:65
Definition: collision_object.h:58
Main namespace.
Definition: AABB.h:43
Definition: loader.h:85
Definition: loader.h:53
std::string filename
Definition: loader.h:86
virtual ~CachedMeshLoader()
Definition: loader.h:78
Key(const std::string &f, const Vec3f &s)
Definition: loader.h:89
shared_ptr< BVHModelBase > BVHModelPtr_t
Definition: fwd.hh:80
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:58
shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
Definition: fwd.hh:72
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
void load(Archive &ar, hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:50
Vec3f scale
Definition: loader.h:87
Definition: loader.h:75
#define HPP_FCL_DLLAPI
Definition: config.hh:64
const Cache_t & cache() const
Definition: loader.h:96