Geometry.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
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 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
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 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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 */

#ifndef _MIRA_MODEL_GEOMETRY_H_
#define _MIRA_MODEL_GEOMETRY_H_

#include <transform/Pose.h>

#include <geometry/Rect.h>
#include <geometry/Polygon.h>

namespace mira { namespace model {


class Geometry : public Object
{
    MIRA_ABSTRACT_OBJECT(Geometry)
public:

    virtual ~Geometry() {}

public:

    virtual Polygon2f getFootprint(const RigidTransform3f& origin) const = 0;

    virtual Box3f getBoundingBox(const RigidTransform3f& origin) const = 0;

};

typedef boost::shared_ptr<Geometry> GeometryPtr;


class Box : public Geometry
{
    MIRA_OBJECT(Box)
public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("Size", size, "The size of the box");
    }

    virtual Polygon2f getFootprint(const RigidTransform3f& origin) const;
    virtual Box3f getBoundingBox(const RigidTransform3f& origin) const;

    Size3f size;
};

typedef boost::shared_ptr<Box> BoxPtr;


class Cone : public Geometry
{
    MIRA_OBJECT(Cone)
public:
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("Radius", radius, "The radius of the cone");
        r.property("Length", length, "The length of the cone");
    }

    virtual Polygon2f getFootprint(const RigidTransform3f& origin) const;
    virtual Box3f getBoundingBox(const RigidTransform3f& origin) const;

    float radius;
    float length;
};

typedef boost::shared_ptr<Cone> ConePtr;


class Cylinder : public Geometry
{
    MIRA_OBJECT(Cylinder)
public:
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("Radius", radius, "The radius of the cylinder");
        r.property("Length", length, "The length of the cylinder");
    }

    virtual Polygon2f getFootprint(const RigidTransform3f& origin) const;
    virtual Box3f getBoundingBox(const RigidTransform3f& origin) const;

    float radius;
    float length;
};

typedef boost::shared_ptr<Cylinder> CylinderPtr;


class Sphere : public Geometry
{
    MIRA_OBJECT(Sphere)
public:
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("Radius", radius, "The radius of the sphere");
    }

    virtual Polygon2f getFootprint(const RigidTransform3f& origin) const;
    virtual Box3f getBoundingBox(const RigidTransform3f& origin) const;

    float radius;
};

typedef boost::shared_ptr<Sphere> SpherePtr;


class Mesh : public Geometry
{
    MIRA_OBJECT(Mesh)
public:
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("Filename", filename, "The filename of the mesh");
        r.property("Scale", scale, "The scale factor of the mesh", 1.0f);
    }

    virtual Polygon2f getFootprint(const RigidTransform3f& origin) const;
    virtual Box3f getBoundingBox(const RigidTransform3f& origin) const;

    std::string filename;
    float scale;
};

typedef boost::shared_ptr<Mesh> MeshPtr;


class Polygon : public Geometry
{
    MIRA_OBJECT(Polygon)
public:
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Polygon", polygon, "The polygon geometry");
    }

    virtual Polygon2f getFootprint(const RigidTransform3f& origin) const;
    virtual Box3f getBoundingBox(const RigidTransform3f& origin) const;

    Polygon2f polygon; 
};

typedef boost::shared_ptr<Polygon> PolygonPtr;


}}

#endif