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tesseract_geometry/include/tesseract_geometry/impl/compound_mesh.h
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| /** | ||
| * @file compound_mesh.h | ||
| * @brief Tesseract Compound Mesh Geometry | ||
| * | ||
| * @author Levi Armstrong | ||
| * @date September 14, 2024 | ||
| * @version TODO | ||
| * @bug No known bugs | ||
| * | ||
| * @copyright Copyright (c) 2024, Levi Armstrong | ||
| * | ||
| * @par License | ||
| * Software License Agreement (Apache License) | ||
| * @par | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * @par | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
| #ifndef TESSERACT_GEOMETRY_COMPOUND_MESH_H | ||
| #define TESSERACT_GEOMETRY_COMPOUND_MESH_H | ||
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| #include <tesseract_common/macros.h> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_PUSH | ||
| #include <boost/serialization/export.hpp> | ||
| #include <memory> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_POP | ||
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| #include <tesseract_geometry/impl/polygon_mesh.h> | ||
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| namespace boost::serialization | ||
| { | ||
| class access; | ||
| } | ||
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| namespace tesseract_geometry | ||
| { | ||
| /** @brief This is store meshes that are associated with as single resource */ | ||
| class CompoundMesh : public Geometry | ||
| { | ||
| public: | ||
| using Ptr = std::shared_ptr<CompoundMesh>; | ||
| using ConstPtr = std::shared_ptr<const CompoundMesh>; | ||
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| CompoundMesh() = default; | ||
| CompoundMesh(std::vector<std::shared_ptr<PolygonMesh>> meshes); | ||
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| /** | ||
| * @brief Get the meshes | ||
| * @return The meshes | ||
| */ | ||
| const std::vector<std::shared_ptr<PolygonMesh>>& getMeshes() const; | ||
|
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| /** | ||
| * @brief Get the path to file used to generate the meshs | ||
| * | ||
| * Note: If empty, assume it was manually generated. | ||
| * | ||
| * @return Absolute path to the mesh file | ||
| */ | ||
| std::shared_ptr<const tesseract_common::Resource> getResource() const; | ||
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| /** | ||
| * @brief Get the scale applied to file used to generate the meshs | ||
| * @return The scale x, y, z | ||
| */ | ||
| const Eigen::Vector3d& getScale() const; | ||
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| Geometry::Ptr clone() const override final; | ||
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| bool operator==(const CompoundMesh& rhs) const; | ||
| bool operator!=(const CompoundMesh& rhs) const; | ||
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| private: | ||
| std::vector<std::shared_ptr<PolygonMesh>> meshes_; | ||
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| friend class boost::serialization::access; | ||
| template <class Archive> | ||
| void serialize(Archive& ar, const unsigned int version); // NOLINT | ||
| }; | ||
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| } // namespace tesseract_geometry | ||
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| BOOST_CLASS_EXPORT_KEY(tesseract_geometry::CompoundMesh) | ||
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| #endif // TESSERACT_GEOMETRY_COMPOUND_MESH_H |
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| Original file line number | Diff line number | Diff line change |
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| /** | ||
| * @file compund_mesh.cpp | ||
| * @brief Tesseract Compound Mesh Geometry | ||
| * | ||
| * @author Levi Armstrong | ||
| * @date March 16, 2022 | ||
| * @version TODO | ||
| * @bug No known bugs | ||
| * | ||
| * @par License | ||
| * Software License Agreement (Apache License) | ||
| * @par | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * @par | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
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| #include <tesseract_common/macros.h> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_PUSH | ||
| #include <boost/serialization/access.hpp> | ||
| #include <boost/serialization/base_object.hpp> | ||
| #include <boost/serialization/nvp.hpp> | ||
| #include <boost/serialization/vector.hpp> | ||
| #include <boost/serialization/shared_ptr.hpp> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_POP | ||
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| #include <tesseract_common/utils.h> | ||
| #include <tesseract_geometry/impl/compound_mesh.h> | ||
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| namespace tesseract_geometry | ||
| { | ||
| CompoundMesh::CompoundMesh(std::vector<std::shared_ptr<PolygonMesh>> meshes) | ||
| : Geometry(GeometryType::COMPOUND_MESH), meshes_(std::move(meshes)) | ||
| { | ||
| if (meshes_.size() <= 1) | ||
| throw std::runtime_error("Meshes must contain more than one mesh"); | ||
|
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| #ifndef NDEBUG | ||
| for (const auto& mesh : meshes_) | ||
| { | ||
| assert(meshes_[0]->getResource() == mesh->getResource()); | ||
| assert(tesseract_common::almostEqualRelativeAndAbs(meshes_[0]->getScale(), mesh->getScale())); | ||
| } | ||
| #endif | ||
| } | ||
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| const std::vector<std::shared_ptr<PolygonMesh>>& CompoundMesh::getMeshes() const { return meshes_; } | ||
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| std::shared_ptr<const tesseract_common::Resource> CompoundMesh::getResource() const | ||
| { | ||
| return meshes_.front()->getResource(); | ||
| } | ||
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| const Eigen::Vector3d& CompoundMesh::getScale() const { return meshes_.front()->getScale(); } | ||
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| Geometry::Ptr CompoundMesh::clone() const | ||
| { | ||
| std::vector<std::shared_ptr<PolygonMesh>> meshes; | ||
| meshes.reserve(meshes_.size()); | ||
| for (const auto& mesh : meshes_) | ||
| meshes.emplace_back(std::dynamic_pointer_cast<PolygonMesh>(mesh->clone())); | ||
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| return std::make_shared<CompoundMesh>(meshes); | ||
| } | ||
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| bool CompoundMesh::operator==(const CompoundMesh& rhs) const | ||
| { | ||
| if (meshes_.size() != rhs.meshes_.size()) | ||
| return false; | ||
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| bool equal = true; | ||
| equal &= Geometry::operator==(rhs); | ||
| for (std::size_t i = 0; i < meshes_.size(); ++i) | ||
| equal &= (*meshes_.at(i) == *rhs.meshes_.at(i)); | ||
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| return equal; | ||
| } | ||
| bool CompoundMesh::operator!=(const CompoundMesh& rhs) const { return !operator==(rhs); } | ||
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| template <class Archive> | ||
| void CompoundMesh::serialize(Archive& ar, const unsigned int /*version*/) | ||
| { | ||
| ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Geometry); | ||
| ar& BOOST_SERIALIZATION_NVP(meshes_); | ||
| } | ||
| } // namespace tesseract_geometry | ||
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| #include <tesseract_common/serialization.h> | ||
| BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_geometry::CompoundMesh) | ||
| TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_geometry::CompoundMesh) |
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