38 #ifndef HPP_FCL_MESH_LOADER_LOADER_H
39 #define HPP_FCL_MESH_LOADER_LOADER_H
57 const Vec3f& scale = Vec3f::Ones());
85 Key(
const std::string& f,
const Vec3f& s) : filename(f), scale(s) {}
89 typedef std::map<Key, BVHModelPtr_t>
Cache_t;
std::map< Key, BVHModelPtr_t > Cache_t
Definition: loader.h:89
const Cache_t & cache() const
Definition: loader.h:91
virtual ~CachedMeshLoader()
Definition: loader.h:75
CachedMeshLoader(const NODE_TYPE &bvType=BV_OBBRSS)
Definition: loader.h:77
virtual BVHModelPtr_t load(const std::string &filename, const Vec3f &scale)
virtual ~MeshLoader()
Definition: loader.h:54
virtual CollisionGeometryPtr_t loadOctree(const std::string &filename)
virtual BVHModelPtr_t load(const std::string &filename, const Vec3f &scale=Vec3f::Ones())
MeshLoader(const NODE_TYPE &bvType=BV_OBBRSS)
Definition: loader.h:63
#define HPP_FCL_DLLAPI
Definition: config.hh:64
@ BV_OBBRSS
Definition: collision_object.h:71
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
Definition: fwd.hh:96
shared_ptr< BVHModelBase > BVHModelPtr_t
Definition: fwd.hh:103
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_object.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44
Vec3f scale
Definition: loader.h:83
Key(const std::string &f, const Vec3f &s)
Definition: loader.h:85
bool operator<(const CachedMeshLoader::Key &b) const
std::string filename
Definition: loader.h:82