Directory: | ./ |
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File: | include/coal/mesh_loader/loader.h |
Date: | 2025-04-01 09:23:31 |
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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 |