collada_urdf: stl_loader.h Source File

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00034 
00035 /* Author: Tim Field */
00036 
00037 #ifndef COLLADA_URDF_STL_LOADER_H
00038 #define COLLADA_URDF_STL_LOADER_H
00039 
00040 #include <stdint.h>
00041 
00042 #include <string>
00043 #include <vector>
00044 
00045 #include <boost/shared_ptr.hpp>
00046 
00047 namespace collada_urdf {
00048 
00049 class Vector3
00050 {
00051 public:
00052     Vector3(float x, float y, float z);
00053 
00054     bool operator==(Vector3 const& v) const;
00055 
00056     float x;
00057     float y;
00058     float z;
00059 };
00060 
00061 class Mesh
00062 {
00063 public:
00064     Mesh();
00065 
00066     int getVertexIndex(Vector3 const& v) const;
00067 
00068     void addVertex(Vector3 const& v);
00069     void addNormal(Vector3 const& n);
00070     void addIndex(unsigned int i);
00071 
00072 public:
00073     std::vector<Vector3>      vertices;
00074     std::vector<Vector3>      normals;
00075     std::vector<unsigned int> indices;
00076 };
00077 
00078 class STLLoader
00079 {
00080 public:
00081     boost::shared_ptr<Mesh> load(std::string const& filename);
00082 
00083 private:
00084     FILE*                   file_;
00085     boost::shared_ptr<Mesh> mesh_;
00086 
00087     void     readBinary();
00088     uint32_t readLongInt();
00089     uint16_t readShortInt();
00090     float    readFloat();
00091 };
00092 
00093 }
00094 
00095 #endif