geometry.h

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#ifndef TESSERACT_GEOMETRY_GEOMETRY_H
#define TESSERACT_GEOMETRY_GEOMETRY_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <boost/uuid/uuid.hpp>
#include <memory>
#include <string>
#include <vector>
#include <cstdint>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_geometry
{
enum class GeometryType : std::uint8_t
{
  UNINITIALIZED,
  SPHERE,
  CYLINDER,
  CAPSULE,
  CONE,
  BOX,
  PLANE,
  MESH,
  CONVEX_MESH,
  SDF_MESH,
  OCTREE,
  POLYGON_MESH,
  COMPOUND_MESH
};
static const std::vector<std::string> GeometryTypeStrings = { "UNINITIALIZED", "SPHERE",   "CYLINDER", "CAPSULE",
                                                              "CONE",          "BOX",      "PLANE",    "MESH",
                                                              "CONVEX_MESH",   "SDF_MESH", "OCTREE",   "POLYGON_MESH",
                                                              "COMPOUND_MESH" };
 
class Geometry
{
public:
  using Ptr = std::shared_ptr<Geometry>;
  using ConstPtr = std::shared_ptr<const Geometry>;
 
  explicit Geometry(GeometryType type = GeometryType::UNINITIALIZED);
  virtual ~Geometry() = default;
  Geometry(const Geometry&) = default;
  Geometry& operator=(const Geometry&) = default;
  Geometry(Geometry&&) = default;
  Geometry& operator=(Geometry&&) = default;
 
  virtual Geometry::Ptr clone() const = 0;
 
  GeometryType getType() const;
 
  void setUUID(const boost::uuids::uuid& uuid);
 
  const boost::uuids::uuid& getUUID() const;
 
  bool operator==(const Geometry& rhs) const;
  bool operator!=(const Geometry& rhs) const;
 
private:
  GeometryType type_;
 
  boost::uuids::uuid uuid_{};
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
using Geometrys = std::vector<Geometry::Ptr>;
using GeometrysConst = std::vector<Geometry::ConstPtr>;
}  // namespace tesseract_geometry
 
BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_geometry::Geometry)
 
#endif  // TESSERACT_GEOMETRY_GEOMETRY_H