.. _program_listing_file__tmp_ws_src_geometric_shapes_include_geometric_shapes_shapes.h:

Program Listing for File shapes.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_geometric_shapes_include_geometric_shapes_shapes.h>` (``/tmp/ws/src/geometric_shapes/include/geometric_shapes/shapes.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2008 Willow Garage, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage, Inc. nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /*  Author: Ioan Sucan */
   
   #ifndef GEOMETRIC_SHAPES_SHAPES_
   #define GEOMETRIC_SHAPES_SHAPES_
   
   #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