mesh_filter.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_MESH_FILTER_MESHFILTER_
#define MOVEIT_MESH_FILTER_MESHFILTER_

#include <map>
#include <moveit/mesh_filter/gl_renderer.h>
#include <moveit/mesh_filter/mesh_filter_base.h>
#include <boost/function.hpp>
#include <Eigen/Eigen>

//forward declarations
namespace shapes
{
  class Mesh;
}

namespace mesh_filter
{

class GLMesh;

template <typename SensorType>
class MeshFilter : public MeshFilterBase
{
  public:
    MeshFilter (const TransformCallback& transform_callback = TransformCallback(),
                const typename SensorType::Parameters& sensor_parameters = typename SensorType::Parameters ());

    typename SensorType::Parameters& parameters ();

    const typename SensorType::Parameters& parameters () const;
};

template<typename SensorType>
MeshFilter<SensorType>::MeshFilter (const TransformCallback& transform_callback,
                                    const typename SensorType::Parameters& sensor_parameters)
: MeshFilterBase (transform_callback, sensor_parameters,
                  SensorType::renderVertexShaderSource, SensorType::renderFragmentShaderSource,
                  SensorType::filterVertexShaderSource, SensorType::filterFragmentShaderSource)
{
}

template<typename SensorType>
typename SensorType::Parameters& MeshFilter<SensorType>::parameters ()
{
  return static_cast<typename SensorType::Parameters&> (*sensor_parameters_);
}

template<typename SensorType>
const typename SensorType::Parameters& MeshFilter<SensorType>::parameters () const
{
  return static_cast<typename SensorType::Parameters&> (*sensor_parameters_);
}

} //namespace mesh_filter
#endif