moveit2
The MoveIt Motion Planning Framework for ROS 2.
mesh_filter.h
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34 
35 /* Author: Suat Gedikli */
36 
37 #pragma once
38 
39 #include <map>
43 
44 // forward declarations
45 namespace shapes
46 {
47 class Mesh;
48 }
49 
50 namespace mesh_filter
51 {
52 class GLMesh;
53 
59 template <typename SensorType>
60 class MeshFilter : public MeshFilterBase
61 {
62 public:
64 
72  MeshFilter(const TransformCallback& transform_callback = TransformCallback(),
73  const typename SensorType::Parameters& sensor_parameters = typename SensorType::Parameters());
74 
80  typename SensorType::Parameters& parameters();
81 
87  const typename SensorType::Parameters& parameters() const;
88 };
89 
90 template <typename SensorType>
92  const typename SensorType::Parameters& sensor_parameters)
93  : MeshFilterBase(transform_callback, sensor_parameters, SensorType::RENDER_VERTEX_SHADER_SOURCE,
94  SensorType::RENDER_FRAGMENT_SHADER_SOURCE, SensorType::FILTER_VERTEX_SHADER_SOURCE,
95  SensorType::FILTER_FRAGMENT_SHADER_SOURCE)
96 {
97 }
98 
99 template <typename SensorType>
100 typename SensorType::Parameters& MeshFilter<SensorType>::parameters()
101 {
102  return static_cast<typename SensorType::Parameters&>(*sensor_parameters_);
103 }
104 
105 template <typename SensorType>
106 const typename SensorType::Parameters& MeshFilter<SensorType>::parameters() const
107 {
108  return static_cast<typename SensorType::Parameters&>(*sensor_parameters_);
109 }
110 
111 } // namespace mesh_filter
std::function< bool(MeshHandle, Eigen::Isometry3d &)> TransformCallback
MeshFilter filters out points that belong to given meshes in depth-images.
Definition: mesh_filter.h:61
MOVEIT_DECLARE_PTR_MEMBER(MeshFilter)
SensorType::Parameters & parameters()
returns the Sensor Parameters
Definition: mesh_filter.h:100
MeshFilter(const TransformCallback &transform_callback=TransformCallback(), const typename SensorType::Parameters &sensor_parameters=typename SensorType::Parameters())
Constructor.
Definition: mesh_filter.h:91
const SensorType::Parameters & parameters() const
returns the Sensor Parameters
Definition: mesh_filter.h:106
Definition: world.h:49