convex_mesh.h

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#ifndef TESSERACT_GEOMETRY_CONVEX_MESH_H
#define TESSERACT_GEOMETRY_CONVEX_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 ConvexMesh : public PolygonMesh
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<ConvexMesh>;
  using ConstPtr = std::shared_ptr<const ConvexMesh>;
 
  enum CreationMethod
  {
    DEFAULT,
    MESH,
    CONVERTED
  };
 
  ConvexMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
             std::shared_ptr<const Eigen::VectorXi> faces,
             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(faces),
                  std::move(resource),
                  scale,
                  std::move(normals),
                  std::move(vertex_colors),
                  std::move(mesh_material),
                  std::move(mesh_textures),
                  GeometryType::CONVEX_MESH)
  {
  }
 
  ConvexMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
             std::shared_ptr<const Eigen::VectorXi> faces,
             int face_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(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() = default;
  ~ConvexMesh() override = default;
 
  CreationMethod getCreationMethod() const { return creation_method_; }
 
  void setCreationMethod(CreationMethod method) { creation_method_ = method; }
 
  Geometry::Ptr clone() const override
  {
    return std::make_shared<ConvexMesh>(getVertices(), getFaces(), getFaceCount(), getResource(), getScale());
  }
  bool operator==(const ConvexMesh& rhs) const;
  bool operator!=(const ConvexMesh& rhs) const;
 
private:
  CreationMethod creation_method_{ DEFAULT };
 
  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::ConvexMesh, "ConvexMesh")
#endif