loader.h
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37 
38 #ifndef HPP_FCL_MESH_LOADER_LOADER_H
39 #define HPP_FCL_MESH_LOADER_LOADER_H
40 
41 #include <hpp/fcl/fwd.hh>
42 #include <hpp/fcl/config.hh>
43 #include <hpp/fcl/data_types.h>
45 
46 #include <map>
47 #include <ctime>
48 
49 namespace hpp {
50 namespace fcl {
53 class HPP_FCL_DLLAPI MeshLoader {
54  public:
55  virtual ~MeshLoader() {}
56 
57  virtual BVHModelPtr_t load(const std::string& filename,
58  const Vec3f& scale = Vec3f::Ones());
59 
62  virtual CollisionGeometryPtr_t loadOctree(const std::string& filename);
63 
64  MeshLoader(const NODE_TYPE& bvType = BV_OBBRSS) : bvType_(bvType) {}
65 
66  private:
68 };
69 
74 class HPP_FCL_DLLAPI CachedMeshLoader : public MeshLoader {
75  public:
76  virtual ~CachedMeshLoader() {}
77 
78  CachedMeshLoader(const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader(bvType) {}
79 
80  virtual BVHModelPtr_t load(const std::string& filename, const Vec3f& scale);
81 
82  struct HPP_FCL_DLLAPI Key {
83  std::string filename;
85 
86  Key(const std::string& f, const Vec3f& s) : filename(f), scale(s) {}
87 
88  bool operator<(const CachedMeshLoader::Key& b) const;
89  };
90  struct HPP_FCL_DLLAPI Value {
92  std::time_t mtime;
93  };
94  typedef std::map<Key, Value> Cache_t;
95 
96  const Cache_t& cache() const { return cache_; }
97 
98  private:
100 };
101 } // namespace fcl
102 
103 } // namespace hpp
104 
105 #endif // FCL_MESH_LOADER_LOADER_H
data_types.h
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
collision_object.h
hpp::fcl::CachedMeshLoader::Key::Key
Key(const std::string &f, const Vec3f &s)
Definition: loader.h:86
hpp::fcl::CachedMeshLoader::cache
const Cache_t & cache() const
Definition: loader.h:96
hpp::fcl::MeshLoader::MeshLoader
MeshLoader(const NODE_TYPE &bvType=BV_OBBRSS)
Definition: loader.h:64
hpp::fcl::CachedMeshLoader::Cache_t
std::map< Key, Value > Cache_t
Definition: loader.h:94
hpp::fcl::CachedMeshLoader::Value::model
BVHModelPtr_t model
Definition: loader.h:91
hpp::fcl::CachedMeshLoader::Key::filename
std::string filename
Definition: loader.h:83
hpp::fcl::CollisionGeometryPtr_t
shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
Definition: include/hpp/fcl/fwd.hh:96
hpp::fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_object.h:65
hpp::fcl::CachedMeshLoader::Value
Definition: loader.h:90
hpp::fcl::CachedMeshLoader::Key
Definition: loader.h:82
hpp::fcl::MeshLoader
Definition: loader.h:53
hpp::fcl::BV_OBBRSS
@ BV_OBBRSS
Definition: collision_object.h:71
boost::serialization::load
void load(Archive &ar, hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: serialization/BV_splitter.h:44
collision-bench.filename
filename
Definition: collision-bench.py:6
hpp::fcl::CachedMeshLoader::Value::mtime
std::time_t mtime
Definition: loader.h:92
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::CachedMeshLoader::~CachedMeshLoader
virtual ~CachedMeshLoader()
Definition: loader.h:76
hpp::fcl::CachedMeshLoader::Key::scale
Vec3f scale
Definition: loader.h:84
generate_distance_plot.b
float b
Definition: generate_distance_plot.py:7
hpp::fcl::MeshLoader::~MeshLoader
virtual ~MeshLoader()
Definition: loader.h:55
hpp::fcl::MeshLoader::bvType_
const NODE_TYPE bvType_
Definition: loader.h:67
hpp::fcl::CachedMeshLoader
Definition: loader.h:74
fwd.hh
hpp::fcl::CachedMeshLoader::CachedMeshLoader
CachedMeshLoader(const NODE_TYPE &bvType=BV_OBBRSS)
Definition: loader.h:78
hpp::fcl::CachedMeshLoader::cache_
Cache_t cache_
Definition: loader.h:99
hpp::fcl::BVHModelPtr_t
shared_ptr< BVHModelBase > BVHModelPtr_t
Definition: include/hpp/fcl/fwd.hh:103


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:14