ConvertMesh.h

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#ifndef URDF2INVENTOR_CONVERTMESH_H
#define URDF2INVENTOR_CONVERTMESH_H

#include <urdf2inventor/MeshConvertRecursionParams.h>
#include <urdf_traverser/Types.h>

// this is a temporary filename (extension .iv) which is needed for internal usage, but can be deleted after execution.
#define TMP_FILE_IV "/tmp/urdf2inventor_tmp.iv"

namespace urdf_traverser
{
class UrdfTraverser;
}

namespace urdf2inventor
{
/*template<class MeshFormat>
bool convertMeshesSimple(urdf_traverser::UrdfTraverser& traverser,
                   const std::string& fromLinkName,
                   const float scaleFactor,
                   const std::string& material,
                   const std::string& file_extension,
                   const urdf_traverser::EigenTransform& addVisualTransform,
                   std::map<std::string, MeshFormat>& meshes,
                   std::map<std::string, std::set<std::string> >& textureFiles);
*/

template <class MeshFormat>
bool convertMeshes(urdf_traverser::UrdfTraverser& traverser,
                   const std::string& fromLink,
                   const typename urdf2inventor::MeshConvertRecursionParams<MeshFormat>::Ptr& meshParams);


bool fixTextureReferences(const std::string& relModelDir,
                          const std::string& relTexDir,
                          const std::map<std::string, std::set<std::string> >& textureFiles,
                          std::map<std::string, std::string>& models,
                          std::map<std::string, std::set<std::string> >& texturesToCopy);



SoNode * getAllGeometry(const urdf_traverser::LinkPtr link, double scale_factor,
                       const urdf_traverser::EigenTransform& addTransform,
                       const bool useVisuals,
                       const bool scaleUrdfTransforms); // default: false

void removeTextureCopies(SoNode * root);


}  // namespace
#endif  // URDF2INVENTOR_CONVERTMESH_H