VoxelGridShape.hpp

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#ifndef DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
#define DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
 
#include "dart/config.hpp"
 
#if HAVE_OCTOMAP
 
#include <octomap/octomap.h>
#include "dart/collision/fcl/BackwardCompatibility.hpp"
#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class VoxelGridShape : public Shape
{
public:
  explicit VoxelGridShape(double resolution = 0.01);
 
  explicit VoxelGridShape(fcl_shared_ptr<octomap::OcTree> octree);
 
  ~VoxelGridShape() override = default;
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  void setOctree(fcl_shared_ptr<octomap::OcTree> octree);
 
  fcl_shared_ptr<octomap::OcTree> getOctree();
 
  fcl_shared_ptr<const octomap::OcTree> getOctree() const;
 
  void updateOccupancy(const Eigen::Vector3d& point, bool occupied = true);
 
  void updateOccupancy(const Eigen::Vector3d& from, const Eigen::Vector3d& to);
 
  void updateOccupancy(
      const octomap::Pointcloud& pointCloud,
      const Eigen::Vector3d& sensorOrigin = Eigen::Vector3d::Zero(),
      const Frame* relativeTo = Frame::World());
 
  void updateOccupancy(
      const octomap::Pointcloud& pointCloud,
      const Eigen::Vector3d& sensorOrigin,
      const Eigen::Isometry3d& relativeTo);
 
  double getOccupancy(const Eigen::Vector3d& point) const;
 
  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  // Documentation inherited.
  void updateVolume() const override;
 
  fcl_shared_ptr<octomap::OcTree> mOctree;
  // TODO(JS): Use std::shared_ptr once we drop supporting FCL (< 0.5)
};
 
} // namespace dynamics
} // namespace dart
 
#endif // HAVE_OCTOMAP
 
#endif // DART_DYNAMICS_VOXELGRIDSHAPE_HPP_