STLLoader.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef _GAZEBO_STLLOADER_HH_
18 #define _GAZEBO_STLLOADER_HH_
19 
20 #include <stdint.h>
21 #include <string>
22 
24 #include "gazebo/util/system.hh"
25 
26 #define LINE_MAX_LEN 256
27 #define COR3_MAX 200000
28 #define ORDER_MAX 10
29 #define FACE_MAX 200000
30 
31 namespace gazebo
32 {
33  namespace common
34  {
37 
40  class GZ_COMMON_VISIBLE STLLoader : public MeshLoader
41  {
43  public: STLLoader();
44 
46  public: virtual ~STLLoader();
47 
50  public: virtual Mesh *Load(const std::string &_filename);
51 
56  private: bool ReadAscii(FILE *_filein, Mesh *_mesh);
57 
62  private: bool ReadBinary(FILE *_filein, Mesh *_mesh);
63 
68  private: bool Leqi(char* _string1, char* _string2);
69 
76  private: int RcolFind(float _a[][COR3_MAX], int _m, int _n, float _r[]);
77 
81  private: uint32_t LongIntRead(FILE *_filein);
82 
87  private: bool ShortIntRead(FILE *_filein, uint16_t &_value);
88 
93  private: bool FloatRead(FILE *_filein, double &_value);
94  };
96  }
97 }
98 #endif
99 
A 3D mesh.
Definition: Mesh.hh:42
Base class for loading meshes.
Definition: MeshLoader.hh:36
Forward declarations for the common classes.
Definition: Animation.hh:33
#define COR3_MAX
Definition: STLLoader.hh:27
Class used to load STL mesh files.
Definition: STLLoader.hh:40