shapes.h

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/*  Author: Ioan Sucan */
 
#ifndef GEOMETRIC_SHAPES_SHAPES_
#define GEOMETRIC_SHAPES_SHAPES_
 
#if __cplusplus <= 199711L
#error This header requires at least C++11
#endif
 
#include <cstdlib>
#include <vector>
#include <iostream>
#include <memory>
#include <string>
 
namespace octomap
{
class OcTree;
}
 
namespace shapes
{
enum ShapeType
{
  UNKNOWN_SHAPE,
  SPHERE,
  CYLINDER,
  CONE,
  BOX,
  PLANE,
  MESH,
  OCTREE
};
 
/* convert above enum to printable */
std::ostream& operator<<(std::ostream& ss, ShapeType type);
 
class Shape
{
public:
  Shape();
  virtual ~Shape();
 
  virtual Shape* clone() const = 0;
 
  virtual void print(std::ostream& out = std::cout) const;
 
  void scale(double scale);
 
  void padd(double padding);
 
  virtual void scaleAndPadd(double scale, double padd) = 0;
 
  virtual bool isFixed() const;
 
  ShapeType type;
};
 
class Sphere : public Shape
{
public:
  Sphere();
 
  Sphere(double r);
 
  static const std::string STRING_NAME;
 
  void scaleAndPadd(double scale, double padd) override;
  Sphere* clone() const override;
  void print(std::ostream& out = std::cout) const override;
 
  double radius;
};
 
class Cylinder : public Shape
{
public:
  using Shape::padd;
  using Shape::scale;
 
  Cylinder();
 
  Cylinder(double r, double l);
 
  static const std::string STRING_NAME;
 
  void scale(double scaleRadius, double scaleLength);
 
  void padd(double paddRadius, double paddLength);
 
  void scaleAndPadd(double scaleRadius, double scaleLength, double paddRadius, double paddLength);
 
  void scaleAndPadd(double scale, double padd) override;
  Cylinder* clone() const override;
  void print(std::ostream& out = std::cout) const override;
 
  double length;
 
  double radius;
};
 
class Cone : public Shape
{
public:
  using Shape::padd;
  using Shape::scale;
 
  Cone();
  Cone(double r, double l);
 
  static const std::string STRING_NAME;
 
  void scale(double scaleRadius, double scaleLength);
 
  void padd(double paddRadius, double paddLength);
 
  void scaleAndPadd(double scaleRadius, double scaleLength, double paddRadius, double paddLength);
 
  void scaleAndPadd(double scale, double padd) override;
  Cone* clone() const override;
  void print(std::ostream& out = std::cout) const override;
 
  double length;
 
  double radius;
};
 
class Box : public Shape
{
public:
  using Shape::padd;
  using Shape::scale;
 
  Box();
  Box(double x, double y, double z);
 
  static const std::string STRING_NAME;
 
  void scale(double scaleX, double scaleY, double scaleZ);
 
  void padd(double paddX, double paddY, double paddZ);
 
  void scaleAndPadd(double scaleX, double scaleY, double scaleZ, double paddX, double paddY, double paddZ);
 
  void scaleAndPadd(double scale, double padd) override;
  Box* clone() const override;
  void print(std::ostream& out = std::cout) const override;
 
  double size[3];
};
 
class Mesh : public Shape
{
public:
  using Shape::padd;
  using Shape::scale;
 
  Mesh();
  Mesh(unsigned int v_count, unsigned int t_count);
  ~Mesh() override;
 
  static const std::string STRING_NAME;
 
  void scale(double scaleX, double scaleY, double scaleZ);
 
  void padd(double paddX, double paddY, double paddZ);
 
  void scaleAndPadd(double scaleX, double scaleY, double scaleZ, double paddX, double paddY, double paddZ);
 
  void scaleAndPadd(double scale, double padd) override;
  Mesh* clone() const override;
  void print(std::ostream& out = std::cout) const override;
 
  void computeTriangleNormals();
 
  void computeVertexNormals();
 
  void mergeVertices(double threshold);
 
  unsigned int vertex_count;
 
  double* vertices;
 
  unsigned int triangle_count;
 
  unsigned int* triangles;
 
  double* triangle_normals;
 
  double* vertex_normals;
};
 
class Plane : public Shape
{
public:
  Plane();
  Plane(double pa, double pb, double pc, double pd);
 
  static const std::string STRING_NAME;
 
  Plane* clone() const override;
  void print(std::ostream& out = std::cout) const override;
  void scaleAndPadd(double scale, double padd) override;
  bool isFixed() const override;
 
  double a, b, c, d;
};
 
class OcTree : public Shape
{
public:
  OcTree();
  OcTree(const std::shared_ptr<const octomap::OcTree>& t);
 
  static const std::string STRING_NAME;
 
  OcTree* clone() const override;
  void print(std::ostream& out = std::cout) const override;
  void scaleAndPadd(double scale, double padd) override;
  bool isFixed() const override;
 
  std::shared_ptr<const octomap::OcTree> octree;
};
 
typedef std::shared_ptr<Shape> ShapePtr;
 
typedef std::shared_ptr<const Shape> ShapeConstPtr;
}  // namespace shapes
 
#endif