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;

  virtual void scaleAndPadd(double scale, double padd);
  virtual Shape* clone() const;
  virtual void print(std::ostream& out = std::cout) const;

  double radius;
};

class Cylinder : public Shape
{
public:
  Cylinder();

  Cylinder(double r, double l);

  static const std::string STRING_NAME;

  virtual void scaleAndPadd(double scale, double padd);
  virtual Shape* clone() const;
  virtual void print(std::ostream& out = std::cout) const;

  double length;

  double radius;
};

class Cone : public Shape
{
public:
  Cone();
  Cone(double r, double l);

  static const std::string STRING_NAME;

  virtual void scaleAndPadd(double scale, double padd);
  virtual Shape* clone() const;
  virtual void print(std::ostream& out = std::cout) const;

  double length;

  double radius;
};

class Box : public Shape
{
public:
  Box();
  Box(double x, double y, double z);

  static const std::string STRING_NAME;

  virtual void scaleAndPadd(double scale, double padd);
  virtual Shape* clone() const;
  virtual void print(std::ostream& out = std::cout) const;

  double size[3];
};

class Mesh : public Shape
{
public:
  Mesh();
  Mesh(unsigned int v_count, unsigned int t_count);
  virtual ~Mesh();

  static const std::string STRING_NAME;

  virtual void scaleAndPadd(double scale, double padd);
  virtual Shape* clone() const;
  virtual void print(std::ostream& out = std::cout) const;

  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;

  virtual Shape* clone() const;
  virtual void print(std::ostream& out = std::cout) const;
  virtual void scaleAndPadd(double scale, double padd);
  virtual bool isFixed() const;

  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;

  virtual Shape* clone() const;
  virtual void print(std::ostream& out = std::cout) const;
  virtual void scaleAndPadd(double scale, double padd);
  virtual bool isFixed() const;

  std::shared_ptr<const octomap::OcTree> octree;
};

typedef std::shared_ptr<Shape> ShapePtr;

typedef std::shared_ptr<const Shape> ShapeConstPtr;
}

#endif