convex_decomposition_hacd.h

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#ifndef TESSERACT_COLLISION_CONVEX_DECOMPOSITION_HACD_H
#define TESSERACT_COLLISION_CONVEX_DECOMPOSITION_HACD_H
 
#include <tesseract_collision/core/convex_decomposition.h>
#include <tesseract_geometry/fwd.h>
 
namespace tesseract_collision
{
struct HACDParameters
{
  double compacity_weight{ 0.1 };
  double volume_weight{ 0.0 };
  double concavity{ 0.001 };
  uint32_t max_num_vertices_per_ch{ 256 };
  uint32_t min_num_clusters{ 2 };
  bool add_extra_dist_points{ false };
  bool add_neighbours_dist_points{ false };
  bool add_faces_points{ false };
 
  void print() const;
};
 
class ConvexDecompositionHACD : public ConvexDecomposition
{
public:
  using Ptr = std::shared_ptr<ConvexDecompositionHACD>;
  using ConstPtr = std::shared_ptr<const ConvexDecompositionHACD>;
 
  ConvexDecompositionHACD() = default;
  ConvexDecompositionHACD(const HACDParameters& params);
 
  std::vector<std::shared_ptr<tesseract_geometry::ConvexMesh>> compute(const tesseract_common::VectorVector3d& vertices,
                                                                       const Eigen::VectorXi& faces) const override;
 
private:
  HACDParameters params_;
};
 
}  // namespace tesseract_collision
 
#endif  // TESSERACT_COLLISION_CONVEX_DECOMPOSITION_HACD_H