| Directory: | ./ |
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| File: | include/coal/mesh_loader/loader.h |
| Date: | 2025-04-13 14:25:19 |
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| Lines: | 5 | 5 | 100.0% |
| Branches: | 1 | 6 | 16.7% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
| 6 | * Copyright (c) 2016, CNRS - LAAS | ||
| 7 | * Copyright (c) 2020, INRIA | ||
| 8 | * All rights reserved. | ||
| 9 | * | ||
| 10 | * Redistribution and use in source and binary forms, with or without | ||
| 11 | * modification, are permitted provided that the following conditions | ||
| 12 | * are met: | ||
| 13 | * | ||
| 14 | * * Redistributions of source code must retain the above copyright | ||
| 15 | * notice, this list of conditions and the following disclaimer. | ||
| 16 | * * Redistributions in binary form must reproduce the above | ||
| 17 | * copyright notice, this list of conditions and the following | ||
| 18 | * disclaimer in the documentation and/or other materials provided | ||
| 19 | * with the distribution. | ||
| 20 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 21 | * contributors may be used to endorse or promote products derived | ||
| 22 | * from this software without specific prior written permission. | ||
| 23 | * | ||
| 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 25 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 26 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 27 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 28 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 29 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 30 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 31 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 33 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 34 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 35 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 36 | */ | ||
| 37 | |||
| 38 | #ifndef COAL_MESH_LOADER_LOADER_H | ||
| 39 | #define COAL_MESH_LOADER_LOADER_H | ||
| 40 | |||
| 41 | #include "coal/fwd.hh" | ||
| 42 | #include "coal/config.hh" | ||
| 43 | #include "coal/data_types.h" | ||
| 44 | #include "coal/collision_object.h" | ||
| 45 | |||
| 46 | #include <map> | ||
| 47 | #include <ctime> | ||
| 48 | |||
| 49 | namespace coal { | ||
| 50 | /// Base class for building polyhedron from files. | ||
| 51 | /// This class builds a new object for each file. | ||
| 52 | class COAL_DLLAPI MeshLoader { | ||
| 53 | public: | ||
| 54 | 18 | virtual ~MeshLoader() {} | |
| 55 | |||
| 56 | virtual BVHModelPtr_t load(const std::string& filename, | ||
| 57 | const Vec3s& scale = Vec3s::Ones()); | ||
| 58 | |||
| 59 | /// Create an OcTree from a file in binary octomap format. | ||
| 60 | /// \todo add OctreePtr_t | ||
| 61 | virtual CollisionGeometryPtr_t loadOctree(const std::string& filename); | ||
| 62 | |||
| 63 |
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1 | MeshLoader(const NODE_TYPE& bvType = BV_OBBRSS) : bvType_(bvType) {} |
| 64 | |||
| 65 | private: | ||
| 66 | const NODE_TYPE bvType_; | ||
| 67 | }; | ||
| 68 | |||
| 69 | /// Class for building polyhedron from files with cache mechanism. | ||
| 70 | /// This class builds a new object for each different file. | ||
| 71 | /// If method CachedMeshLoader::load is called twice with the same arguments, | ||
| 72 | /// the second call returns the result of the first call. | ||
| 73 | class COAL_DLLAPI CachedMeshLoader : public MeshLoader { | ||
| 74 | public: | ||
| 75 | 16 | virtual ~CachedMeshLoader() {} | |
| 76 | |||
| 77 |
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8 | CachedMeshLoader(const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader(bvType) {} |
| 78 | |||
| 79 | virtual BVHModelPtr_t load(const std::string& filename, const Vec3s& scale); | ||
| 80 | |||
| 81 | struct COAL_DLLAPI Key { | ||
| 82 | std::string filename; | ||
| 83 | Vec3s scale; | ||
| 84 | |||
| 85 |
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16 | Key(const std::string& f, const Vec3s& s) : filename(f), scale(s) {} |
| 86 | |||
| 87 | bool operator<(const CachedMeshLoader::Key& b) const; | ||
| 88 | }; | ||
| 89 | struct COAL_DLLAPI Value { | ||
| 90 | BVHModelPtr_t model; | ||
| 91 | std::time_t mtime; | ||
| 92 | }; | ||
| 93 | typedef std::map<Key, Value> Cache_t; | ||
| 94 | |||
| 95 | const Cache_t& cache() const { return cache_; } | ||
| 96 | |||
| 97 | private: | ||
| 98 | Cache_t cache_; | ||
| 99 | }; | ||
| 100 | } // namespace coal | ||
| 101 | |||
| 102 | #endif // COAL_MESH_LOADER_LOADER_H | ||
| 103 |