mesh_filter.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_MESH_FILTER_MESHFILTER_
#define MOVEIT_MESH_FILTER_MESHFILTER_

#include <map>
#include <moveit/macros/declare_ptr.h>
#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:
  MOVEIT_DECLARE_PTR_MEMBER(MeshFilter);

  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