ConversionResult.h

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#ifndef URDF2INVENTOR_CONVERSIONRESULT_H
#define URDF2INVENTOR_CONVERSIONRESULT_H
// Copyright Jennifer Buehler

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <string>
#include <map>
#include <set>

namespace urdf2inventor
{

class ConversionParameters
{
public:
    typedef Eigen::Transform<double, 3, Eigen::Affine> EigenTransform;
    explicit ConversionParameters(const std::string& _rootLinkName,
                                  const std::string& _material,
                                  const EigenTransform& _addVisualTransform):
        rootLinkName(_rootLinkName),
        material(_material),
        addVisualTransform(_addVisualTransform) {}
    ConversionParameters(const ConversionParameters& o):
        rootLinkName(o.rootLinkName),
        material(o.material),
        addVisualTransform(o.addVisualTransform) {}

    virtual ~ConversionParameters() {}

    // root link where the conversion starts from
    std::string rootLinkName;

    // material for the meshes
    std::string material;

    EigenTransform addVisualTransform;

private:
    ConversionParameters() {}
};



template<typename MeshFormat>
class ConversionResult
{
public:
    explicit ConversionResult(const std::string& _meshOutputExtension,
                              const std::string& _meshOutputDirectoryName,
                              const std::string& _texOutputDirectoryName):
        meshOutputExtension(_meshOutputExtension),
        meshOutputDirectoryName(_meshOutputDirectoryName),
        texOutputDirectoryName(_texOutputDirectoryName),
        success(false) {}
    ConversionResult(const ConversionResult& o):
        robotName(o.robotName),
        meshes(o.meshes),
        meshOutputExtension(o.meshOutputExtension),
        meshOutputDirectoryName(o.meshOutputDirectoryName),
        texOutputDirectoryName(o.texOutputDirectoryName),
        success(o.success) {}

    virtual ~ConversionResult() {}

    std::string robotName;

    // the resulting meshes (inventor files), indexed by the link name
    std::map<std::string, MeshFormat> meshes;

    std::map<std::string, std::set<std::string> > textureFiles;

    // the extension to use for mesh files (e.g. ".iv" for inventor)
    std::string meshOutputExtension;

    // output directory for all meshes
    std::string meshOutputDirectoryName;

    // output directory for all textures
    std::string texOutputDirectoryName;

    bool success;

private:
    ConversionResult():
        success(false) {}
};

}  //  namespace urdf2inventor
#endif   // URDF2INVENTOR_CONVERSIONRESULT_H