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/*
* Copyright 2018 Open Source Robotics Foundation
*
* 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
*
* 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 SDF_MESH_HH_
#define SDF_MESH_HH_
#include <string>
#include <ignition/math/Vector3.hh>
#include <sdf/Element.hh>
#include <sdf/Error.hh>
#include <sdf/sdf_config.h>
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
// Forward declare private data class.
class MeshPrivate;
/// \brief Mesh represents a mesh shape, and is usually accessed through a
/// Geometry.
class SDFORMAT_VISIBLE Mesh
{
/// \brief Constructor
public: Mesh();
/// \brief Copy constructor
/// \param[in] _mesh Mesh to copy.
public: Mesh(const Mesh &_mesh);
/// \brief Move constructor
/// \param[in] _mesh Mesh to move.
public: Mesh(Mesh &&_mesh) noexcept;
/// \brief Destructor
public: virtual ~Mesh();
/// \brief Move assignment operator.
/// \param[in] _mesh Mesh to move.
/// \return Reference to this.
public: Mesh &operator=(Mesh &&_mesh);
/// \brief Copy Assignment operator.
/// \param[in] _mesh The mesh to set values from.
/// \return *this
public: Mesh &operator=(const Mesh &_mesh);
/// \brief Load the mesh geometry based on a element pointer.
/// This is *not* the usual entry point. Typical usage of the SDF DOM is
/// through the Root object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get the mesh's URI.
/// \return The URI of the mesh data.
public: std::string Uri() const;
/// \brief Set the mesh's URI.
/// \param[in] _uri The URI of the mesh.
public: void SetUri(const std::string &_uri);
/// \brief The path to the file where this element was loaded from.
/// \return Full path to the file on disk.
public: const std::string &FilePath() const;
/// \brief Set the path to the file where this element was loaded from.
/// \paramp[in] _filePath Full path to the file on disk.
public: void SetFilePath(const std::string &_filePath);
/// \brief Get the mesh's scale factor.
/// \return The mesh's scale factor.
public: ignition::math::Vector3d Scale() const;
/// \brief Set the mesh's scale factor.
/// \return The mesh's scale factor.
public: void SetScale(const ignition::math::Vector3d &_scale);
/// \brief A submesh, contained with the mesh at the specified URI, may
/// optionally be specified. If specified, this submesh should be used
/// instead of the entire mesh.
/// \return The name of the submesh within the mesh at the specified URI.
public: std::string Submesh() const;
/// \brief Set the mesh's submesh. See Submesh() for more information.
/// \param[in] _submesh Name of the submesh. The name should match a submesh
/// within the mesh at the specified URI.
public: void SetSubmesh(const std::string &_submesh);
/// \brief Get whether the submesh should be centered at 0,0,0. This will
/// effectively remove any transformations on the submesh before the poses
/// from parent links and models are applied. The return value is only
/// applicable if a SubMesh has been specified.
/// \return True if the submesh should be centered.
public: bool CenterSubmesh() const;
/// \brief Set whether the submesh should be centered. See CenterSubmesh()
/// for more information.
/// \param[in] _center True to center the submesh.
public: void SetCenterSubmesh(const bool _center);
/// \brief Get a pointer to the SDF element that was used during load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Private data pointer.
private: MeshPrivate *dataPtr;
};
}
}
#endif
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