Program Listing for File shapes.h
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// Copyright 2008 Willow Garage, Inc.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// documentation and/or other materials provided with the distribution.
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// this software without specific prior written permission.
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/* 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