convex_mesh.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/nvp.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/impl/convex_mesh.h>
#include <tesseract_geometry/impl/mesh_material.h>
#include <tesseract_common/resource_locator.h>
 
namespace tesseract_geometry
{
ConvexMesh::ConvexMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
                       std::shared_ptr<const Eigen::VectorXi> faces,
                       tesseract_common::Resource::ConstPtr resource,
                       const Eigen::Vector3d& scale,
                       std::shared_ptr<const tesseract_common::VectorVector3d> normals,
                       std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors,
                       MeshMaterial::Ptr mesh_material,
                       std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures)
  : PolygonMesh(std::move(vertices),
                std::move(faces),
                std::move(resource),
                scale,
                std::move(normals),
                std::move(vertex_colors),
                std::move(mesh_material),
                std::move(mesh_textures),
                GeometryType::CONVEX_MESH)
{
}
 
ConvexMesh::ConvexMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
                       std::shared_ptr<const Eigen::VectorXi> faces,
                       int face_count,
                       tesseract_common::Resource::ConstPtr resource,
                       const Eigen::Vector3d& scale,
                       std::shared_ptr<const tesseract_common::VectorVector3d> normals,
                       std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors,
                       MeshMaterial::Ptr mesh_material,
                       std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures)
  : PolygonMesh(std::move(vertices),
                std::move(faces),
                face_count,
                std::move(resource),
                scale,
                std::move(normals),
                std::move(vertex_colors),
                std::move(mesh_material),
                std::move(mesh_textures),
                GeometryType::CONVEX_MESH)
{
}
 
ConvexMesh::CreationMethod ConvexMesh::getCreationMethod() const { return creation_method_; }
 
void ConvexMesh::setCreationMethod(CreationMethod method) { creation_method_ = method; }
 
Geometry::Ptr ConvexMesh::clone() const
{
  return std::make_shared<ConvexMesh>(getVertices(), getFaces(), getFaceCount(), getResource(), getScale());
}
 
bool ConvexMesh::operator==(const ConvexMesh& rhs) const
{
  bool equal = true;
  equal &= PolygonMesh::operator==(rhs);
  equal &= creation_method_ == rhs.creation_method_;
  return equal;
}
bool ConvexMesh::operator!=(const ConvexMesh& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void ConvexMesh::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PolygonMesh);
  ar& BOOST_SERIALIZATION_NVP(creation_method_);
}
}  // namespace tesseract_geometry
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_geometry::ConvexMesh)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_geometry::ConvexMesh)