loader.h

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#ifndef HPP_FCL_MESH_LOADER_LOADER_H
#define HPP_FCL_MESH_LOADER_LOADER_H

#include <boost/shared_ptr.hpp>
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/config.hh>
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/collision_object.h>

namespace hpp
{
namespace fcl {
  class MeshLoader
  {
    public:
      virtual ~MeshLoader() {}

      virtual BVHModelPtr_t load (const std::string& filename,
                                  const Vec3f& scale = Vec3f::Ones());

      virtual CollisionGeometryPtr_t loadOctree (const std::string& filename);

      MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}

    private:
      const NODE_TYPE bvType_;
  };

  class CachedMeshLoader : public MeshLoader
  {
    public:
      virtual ~CachedMeshLoader() {}

      CachedMeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader (bvType) {}

      virtual BVHModelPtr_t load (const std::string& filename,
          const Vec3f& scale);

      struct Key {
        std::string filename;
        Vec3f scale;

        Key (const std::string& f, const Vec3f& s)
          : filename (f), scale (s) {}

        bool operator< (const CachedMeshLoader::Key& b) const;
      };
      typedef std::map <Key, BVHModelPtr_t> Cache_t;

      const Cache_t cache () const { return cache_; }
    private:
      Cache_t cache_;
  };
}

} // namespace hpp

#endif // FCL_MESH_LOADER_LOADER_H