polygon_mesh.h

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#ifndef TESSERACT_GEOMETRY_POLYGON_MESH_H
#define TESSERACT_GEOMETRY_POLYGON_MESH_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <Eigen/Geometry>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
#include <tesseract_common/eigen_types.h>
 
#include <tesseract_geometry/geometry.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_geometry
{
class MeshMaterial;
class MeshTexture;
 
class PolygonMesh : public Geometry
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<PolygonMesh>;
  using ConstPtr = std::shared_ptr<const PolygonMesh>;
 
  PolygonMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
              std::shared_ptr<const Eigen::VectorXi> faces,
              std::shared_ptr<const tesseract_common::Resource> resource = nullptr,
              const Eigen::Vector3d& scale = Eigen::Vector3d(1, 1, 1),  // NOLINT
              std::shared_ptr<const tesseract_common::VectorVector3d> normals = nullptr,
              std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors = nullptr,
              std::shared_ptr<MeshMaterial> mesh_material = nullptr,
              std::shared_ptr<const std::vector<std::shared_ptr<MeshTexture>>> mesh_textures = nullptr,
              GeometryType type = GeometryType::POLYGON_MESH);
 
  PolygonMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
              std::shared_ptr<const Eigen::VectorXi> faces,
              int face_count,
              std::shared_ptr<const tesseract_common::Resource> resource = nullptr,
              const Eigen::Vector3d& scale = Eigen::Vector3d(1, 1, 1),  // NOLINT
              std::shared_ptr<const tesseract_common::VectorVector3d> normals = nullptr,
              std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors = nullptr,
              std::shared_ptr<MeshMaterial> mesh_material = nullptr,
              std::shared_ptr<const std::vector<std::shared_ptr<MeshTexture>>> mesh_textures = nullptr,
              GeometryType type = GeometryType::POLYGON_MESH);
 
  PolygonMesh() = default;
  ~PolygonMesh() override = default;
 
  const std::shared_ptr<const tesseract_common::VectorVector3d>& getVertices() const;
 
  const std::shared_ptr<const Eigen::VectorXi>& getFaces() const;
 
  int getVertexCount() const;
 
  int getFaceCount() const;
 
  std::shared_ptr<const tesseract_common::Resource> getResource() const;
 
  const Eigen::Vector3d& getScale() const;
 
  const std::shared_ptr<const tesseract_common::VectorVector3d>& getNormals() const;
 
  const std::shared_ptr<const tesseract_common::VectorVector4d>& getVertexColors() const;
 
  std::shared_ptr<const MeshMaterial> getMaterial() const;
 
  const std::shared_ptr<const std::vector<std::shared_ptr<MeshTexture>>>& getTextures() const;
 
  Geometry::Ptr clone() const override;
 
  bool operator==(const PolygonMesh& rhs) const;
  bool operator!=(const PolygonMesh& rhs) const;
 
private:
  std::shared_ptr<const tesseract_common::VectorVector3d> vertices_;
  std::shared_ptr<const Eigen::VectorXi> faces_;
 
  int vertex_count_{ 0 };
  int face_count_{ 0 };
  std::shared_ptr<const tesseract_common::Resource> resource_;
  Eigen::Vector3d scale_;
  std::shared_ptr<const tesseract_common::VectorVector3d> normals_;
  std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors_;
  std::shared_ptr<MeshMaterial> mesh_material_;
  std::shared_ptr<const std::vector<std::shared_ptr<MeshTexture>>> mesh_textures_;
 
  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::PolygonMesh)
#endif  // POLYGON_MESH_H