compound_mesh.h

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#ifndef TESSERACT_GEOMETRY_COMPOUND_MESH_H
#define TESSERACT_GEOMETRY_COMPOUND_MESH_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/impl/polygon_mesh.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_geometry
{
class ConvexMesh;
class Mesh;
class SDFMesh;
 
class CompoundMesh : public Geometry
{
public:
  using Ptr = std::shared_ptr<CompoundMesh>;
  using ConstPtr = std::shared_ptr<const CompoundMesh>;
 
  CompoundMesh() = default;
  CompoundMesh(std::vector<std::shared_ptr<PolygonMesh>> meshes);
  CompoundMesh(std::vector<std::shared_ptr<ConvexMesh>> meshes);
  CompoundMesh(std::vector<std::shared_ptr<Mesh>> meshes);
  CompoundMesh(std::vector<std::shared_ptr<SDFMesh>> meshes);
 
  const std::vector<std::shared_ptr<PolygonMesh>>& getMeshes() const;
 
  std::shared_ptr<const tesseract_common::Resource> getResource() const;
 
  const Eigen::Vector3d& getScale() const;
 
  Geometry::Ptr clone() const override final;
 
  bool operator==(const CompoundMesh& rhs) const;
  bool operator!=(const CompoundMesh& rhs) const;
 
private:
  std::vector<std::shared_ptr<PolygonMesh>> meshes_;
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
}  // namespace tesseract_geometry
 
BOOST_CLASS_EXPORT_KEY(tesseract_geometry::CompoundMesh)
 
#endif  // TESSERACT_GEOMETRY_COMPOUND_MESH_H