primitive.hpp

Go to the documentation of this file.

// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__PRIMITIVES__PRIMITIVE_HPP_
#define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__PRIMITIVES__PRIMITIVE_HPP_
 
#include <embree4/rtcore.h>
 
#include <algorithm>
#include <geometry/polygon/polygon.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <optional>
#include <string>
#include <vector>
 
namespace simple_sensor_simulator
{
struct Vertex
{
  float x;
  float y;
  float z;
};
 
Vertex toVertex(const geometry_msgs::msg::Point & point);
std::vector<Vertex> toVertex(const std::vector<geometry_msgs::msg::Point> & points);
geometry_msgs::msg::Point toPoint(const Vertex & v);
std::vector<geometry_msgs::msg::Point> toPoints(const std::vector<Vertex> & v);
 
struct Triangle
{
  unsigned int v0;
  unsigned int v1;
  unsigned int v2;
};
 
namespace primitives
{
class Primitive
{
public:
  Primitive(std::string type, const geometry_msgs::msg::Pose & pose);
  virtual ~Primitive() = default;
  const std::string type;
  const geometry_msgs::msg::Pose pose;
  unsigned int addToScene(RTCDevice device, RTCScene scene);
  std::vector<Vertex> getVertex() const;
  std::vector<Triangle> getTriangles() const;
  std::vector<geometry_msgs::msg::Point> get2DConvexHull() const;
  std::vector<geometry_msgs::msg::Point> get2DConvexHull(
    const geometry_msgs::msg::Pose & sensor_pose) const;
  std::optional<double> getMax(const math::geometry::Axis & axis) const;
  std::optional<double> getMin(const math::geometry::Axis & axis) const;
  std::optional<double> getMax(
    const math::geometry::Axis & axis, const geometry_msgs::msg::Pose & sensor_pose) const;
  std::optional<double> getMin(
    const math::geometry::Axis & axis, const geometry_msgs::msg::Pose & sensor_pose) const;
 
protected:
  std::vector<Vertex> transform() const;
  std::vector<Vertex> transform(const geometry_msgs::msg::Pose & sensor_pose) const;
  std::vector<Vertex> vertices_;
  std::vector<Triangle> triangles_;
 
private:
  Vertex transform(const Vertex & v) const;
  Vertex transform(const Vertex & v, const geometry_msgs::msg::Pose & sensor_pose) const;
};
}  // namespace primitives
}  // namespace simple_sensor_simulator
 
#endif  // SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__PRIMITIVES__PRIMITIVE_HPP_