21 #include <boost/filesystem.hpp> 33 char header_info[80] =
"";
38 if (!boost::filesystem::exists(this->
file_path_))
45 std::ios::in | std::ios::binary);
54 myFile.read(header_info, 80);
59 nTriLong = *((uint32_t*) nTri);
63 for (
int i = 0; i < nTriLong; i++)
69 myFile.read(facet, 50);
100 double z = this->
toDouble(facet, 8);
102 fcl::Vec3f v3(x, y, z);
114 char f1[4] = { facet[start_idx],
115 facet[start_idx + 1],
116 facet[start_idx + 2],
117 facet[start_idx + 3]};
118 float f_val = *((
float*) f1);
119 double d_val =
static_cast<double>(f_val);
fcl::Vec3f toVec3f(char *facet)
double toDouble(char *facet, uint8_t start_idx)
geometry_msgs::TransformStamped t
int8_t read(std::vector< TriangleSupport > &tri_vec)
#define ROS_DEBUG_STREAM(args)
const std::string resolveURI(const std::string &path)
#define ROS_ERROR_STREAM(args)