mesh_filter.hpp

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/* Author: Suat Gedikli */
 
#pragma once
 
#include <map>
#include <moveit/macros/declare_ptr.hpp>
#include <moveit/mesh_filter/gl_renderer.hpp>
#include <moveit/mesh_filter/mesh_filter_base.hpp>
 
// forward declarations
namespace shapes
{
class Mesh;
}
 
namespace mesh_filter
{
class GLMesh;

 
template <typename SensorType>
class MeshFilter : public MeshFilterBase
{
public:
  MOVEIT_DECLARE_PTR_MEMBER(MeshFilter);

  MeshFilter(const TransformCallback& transform_callback = TransformCallback(),
             const typename SensorType::Parameters& sensor_parameters = typename SensorType::Parameters());

  typename SensorType::Parameters& parameters();

  const typename SensorType::Parameters& parameters() const;
};
 
template <typename SensorType>
MeshFilter<SensorType>::MeshFilter(const TransformCallback& transform_callback,
                                   const typename SensorType::Parameters& sensor_parameters)
  : MeshFilterBase(transform_callback, sensor_parameters, SensorType::RENDER_VERTEX_SHADER_SOURCE,
                   SensorType::RENDER_FRAGMENT_SHADER_SOURCE, SensorType::FILTER_VERTEX_SHADER_SOURCE,
                   SensorType::FILTER_FRAGMENT_SHADER_SOURCE)
{
}
 
template <typename SensorType>
typename SensorType::Parameters& MeshFilter<SensorType>::parameters()
{
  return static_cast<typename SensorType::Parameters&>(*sensor_parameters_);
}
 
template <typename SensorType>
const typename SensorType::Parameters& MeshFilter<SensorType>::parameters() const
{
  return static_cast<typename SensorType::Parameters&>(*sensor_parameters_);
}
 
}  // namespace mesh_filter