mesh_slicer.hpp

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#ifndef RAM_PATH_PLANNING_MESH_SLICER_HPP
#define RAM_PATH_PLANNING_MESH_SLICER_HPP

#include <ros/ros.h>
#include <ram_path_planning/error_observer.hpp>
#include <ram_path_planning/donghong_ding.hpp>

#include <vtkActor.h>
#include <vtkCutter.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkOBJReader.h>
#include <vtkPLYReader.h>
#include <vtkPlane.h>
#include <vtkPolyDataMapper.h>
#include <vtkProperty.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderer.h>
#include <vtkSTLReader.h>
#include <vtkStripper.h>
#include <vtkTriangleFilter.h>

namespace ram_path_planning
{
typedef vtkSmartPointer<vtkPolyData> Polygon;
typedef std::vector<Polygon> PolygonVector;
typedef std::vector<PolygonVector> Layer;

bool readPolygonFile(const std::string file_name,
                     const vtkSmartPointer<vtkPolyData> poly_data);

unsigned sliceMesh(std::vector<Layer> &trajectory,
                   const std::string file_name,
                   const vtkSmartPointer<vtkPolyData> poly_data,
                   vtkSmartPointer<vtkStripper> &stripper,
                   const double height_between_layers,
                   const std::array<double, 3> slicing_direction,
                   const bool use_gui = false);
}

#endif