convex_decomposition.h

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#ifndef TESSERACT_COLLISION_CONVEX_DECOMPOSITION_H
#define TESSERACT_COLLISION_CONVEX_DECOMPOSITION_H
 
#include <vector>
#include <memory>
#include <tesseract_common/types.h>
#include <tesseract_geometry/impl/convex_mesh.h>
 
namespace tesseract_collision
{
class ConvexDecomposition
{
public:
  using Ptr = std::shared_ptr<ConvexDecomposition>;
  using ConstPtr = std::shared_ptr<const ConvexDecomposition>;
 
  ConvexDecomposition() = default;
  virtual ~ConvexDecomposition() = default;
  ConvexDecomposition(const ConvexDecomposition&) = default;
  ConvexDecomposition& operator=(const ConvexDecomposition&) = default;
  ConvexDecomposition(ConvexDecomposition&&) = default;
  ConvexDecomposition& operator=(ConvexDecomposition&&) = default;
 
  virtual std::vector<tesseract_geometry::ConvexMesh::Ptr> compute(const tesseract_common::VectorVector3d& vertices,
                                                                   const Eigen::VectorXi& faces) const = 0;
};
 
}  // namespace tesseract_collision
 
#endif  // TESSERACT_COLLISION_CONVEX_DECOMPOSITION_H