PointCloudShape.hpp

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#ifndef DART_DYNAMICS_POINTCLOUDSHAPE_HPP_
#define DART_DYNAMICS_POINTCLOUDSHAPE_HPP_
 
#include "dart/dynamics/Shape.hpp"
 
#if HAVE_OCTOMAP
#  include <octomap/Pointcloud.h>
#endif
 
namespace dart {
namespace dynamics {
 
class PointCloudShape : public Shape
{
public:
  enum ColorMode
  {
    USE_SHAPE_COLOR = 0,
 
    BIND_OVERALL,
 
    BIND_PER_POINT,
  };
 
  enum PointShapeType
  {
    BOX = 0,          
    BILLBOARD_SQUARE, 
    BILLBOARD_CIRCLE, 
    POINT,            
  };
 
  explicit PointCloudShape(double visualSize = 0.01);
 
  ~PointCloudShape() override = default;
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;
 
  static const std::string& getStaticType();
 
  void reserve(std::size_t size);
 
  void addPoint(const Eigen::Vector3d& point);
 
  void addPoint(const std::vector<Eigen::Vector3d>& points);
 
  void setPoint(const std::vector<Eigen::Vector3d>& points);
 
#if HAVE_OCTOMAP
  void setPoints(::octomap::Pointcloud& pointCloud);
 
  void addPoints(::octomap::Pointcloud& pointCloud);
#endif
 
  const std::vector<Eigen::Vector3d>& getPoints() const;
 
  std::size_t getNumPoints() const;
 
  void removeAllPoints();
 
  void setPointShapeType(PointShapeType type);
 
  PointShapeType getPointShapeType() const;
 
  void setColorMode(ColorMode mode);
 
  ColorMode getColorMode() const;
 
  void setOverallColor(const Eigen::Vector4d& color);
 
  Eigen::Vector4d getOverallColor() const;
 
  void setColors(const std::vector<
                 Eigen::Vector4d,
                 Eigen::aligned_allocator<Eigen::Vector4d>>& colors);
 
  const std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d>>&
  getColors() const;
 
  void setVisualSize(double size);
 
  double getVisualSize() const;
 
  // Documentation inherited.
  void notifyColorUpdated(const Eigen::Vector4d& color) override;
 
protected:
  // Documentation inherited.
  void updateVolume() const override;
 
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  std::vector<Eigen::Vector3d> mPoints;
 
  PointShapeType mPointShapeType;
 
  ColorMode mColorMode;
 
  std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d>>
      mColors;
 
  double mVisualSize;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_POINTCLOUDSHAPE_HPP_