sdf_mesh.h

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#ifndef TESSERACT_GEOMETRY_SDF_MESH_H
#define TESSERACT_GEOMETRY_SDF_MESH_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/export.hpp>
#include <Eigen/Geometry>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/geometry.h>
#include <tesseract_geometry/impl/mesh_material.h>
#include <tesseract_geometry/impl/polygon_mesh.h>
 
namespace tesseract_geometry
{
class SDFMesh : public PolygonMesh
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<SDFMesh>;
  using ConstPtr = std::shared_ptr<const SDFMesh>;
 
  SDFMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
          std::shared_ptr<const Eigen::VectorXi> triangles,
          tesseract_common::Resource::Ptr resource = nullptr,
          const Eigen::Vector3d& scale = Eigen::Vector3d(1, 1, 1),
          std::shared_ptr<const tesseract_common::VectorVector3d> normals = nullptr,
          std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors = nullptr,
          MeshMaterial::Ptr mesh_material = nullptr,
          std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures = nullptr)
    : PolygonMesh(std::move(vertices),
                  std::move(triangles),
                  std::move(resource),
                  scale,
                  std::move(normals),
                  std::move(vertex_colors),
                  std::move(mesh_material),
                  std::move(mesh_textures),
                  GeometryType::SDF_MESH)
  {
    if ((static_cast<long>(getFaceCount()) * 4) != getFaces()->size())
      std::throw_with_nested(std::runtime_error("Mesh is not triangular"));  // LCOV_EXCL_LINE
  }
 
  SDFMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
          std::shared_ptr<const Eigen::VectorXi> triangles,
          int triangle_count,
          tesseract_common::Resource::ConstPtr resource = nullptr,
          const Eigen::Vector3d& scale = Eigen::Vector3d(1, 1, 1),
          std::shared_ptr<const tesseract_common::VectorVector3d> normals = nullptr,
          std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors = nullptr,
          MeshMaterial::Ptr mesh_material = nullptr,
          std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures = nullptr)
    : PolygonMesh(std::move(vertices),
                  std::move(triangles),
                  triangle_count,
                  std::move(resource),
                  scale,
                  std::move(normals),
                  std::move(vertex_colors),
                  std::move(mesh_material),
                  std::move(mesh_textures),
                  GeometryType::SDF_MESH)
  {
    if ((static_cast<long>(getFaceCount()) * 4) != getFaces()->size())
      std::throw_with_nested(std::runtime_error("Mesh is not triangular"));  // LCOV_EXCL_LINE
  }
 
  SDFMesh() = default;
  ~SDFMesh() override = default;
 
  Geometry::Ptr clone() const override
  {
    return std::make_shared<SDFMesh>(getVertices(), getFaces(), getFaceCount(), getResource(), getScale());
  }
 
  bool operator==(const SDFMesh& rhs) const;
  bool operator!=(const SDFMesh& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
}  // namespace tesseract_geometry
 
BOOST_CLASS_EXPORT_KEY2(tesseract_geometry::SDFMesh, "SDFMesh")
#endif