Visual Servoing Platform version 3.5.0
vpScene.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 *
33 * Authors:
34 * Jean-Luc CORRE
35 *
36 *****************************************************************************/
37
38#ifndef vpScene_h
39#define vpScene_h
40
41#include <visp3/core/vpConfig.h>
42
43#ifndef DOXYGEN_SHOULD_SKIP_THIS
44
45#include "vpBound.h"
46#include <visp3/core/vpHomogeneousMatrix.h>
47#include <visp3/robot/vpWireFrameSimulatorTypes.h>
48
49// Inventor includes
50#if defined(VISP_HAVE_COIN3D)
51#include <Inventor/VRMLnodes/SoVRMLCoordinate.h>
52#include <Inventor/VRMLnodes/SoVRMLGroup.h>
53#include <Inventor/VRMLnodes/SoVRMLIndexedFaceSet.h>
54#include <Inventor/VRMLnodes/SoVRMLIndexedLineSet.h>
55#include <Inventor/VRMLnodes/SoVRMLShape.h>
56#include <Inventor/actions/SoGetMatrixAction.h>
57#include <Inventor/actions/SoGetPrimitiveCountAction.h>
58#include <Inventor/actions/SoSearchAction.h>
59#include <Inventor/actions/SoToVRML2Action.h>
60#include <Inventor/actions/SoWriteAction.h>
61#include <Inventor/misc/SoChildList.h>
62#include <Inventor/nodes/SoSeparator.h>
63
64#include <list>
65#include <vector>
66
67typedef struct indexFaceSet {
68 indexFaceSet() : nbPt(0), pt(), nbIndex(0), index(){};
69 int nbPt;
70 std::vector<vpPoint> pt;
71 int nbIndex;
72 std::vector<int> index;
73} indexFaceSet;
74
75#endif
76
77typedef enum { BND_MODEL, WRL_MODEL, UNKNOWN_MODEL } Model_3D;
78
79Model_3D getExtension(const char *file);
80void set_scene_wrl(const char *str, Bound_scene *sc, float factor);
81void set_scene(const char *, Bound_scene *, float);
82void vp2jlc_matrix(const vpHomogeneousMatrix &, Matrix &);
83
84#if defined(VISP_HAVE_COIN3D)
85void extractFaces(SoVRMLIndexedFaceSet *face_set, indexFaceSet *ifs);
86void ifsToBound(Bound *, std::list<indexFaceSet *> &);
87void destroyIfs(std::list<indexFaceSet *> &);
88#endif
89
90#endif
91#endif
Implementation of an homogeneous matrix and operations on such kind of matrices.