Visual Servoing Platform  version 3.6.1 under development (2024-11-15)
vpScene.h
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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 
67 BEGIN_VISP_NAMESPACE
68 typedef struct indexFaceSet
69 {
70  indexFaceSet() : nbPt(0), pt(), nbIndex(0), index() { };
71  int nbPt;
72  std::vector<vpPoint> pt;
73  int nbIndex;
74  std::vector<int> index;
75 } indexFaceSet;
76 END_VISP_NAMESPACE
77 #endif
78 
79 BEGIN_VISP_NAMESPACE
80 typedef enum { BND_MODEL, WRL_MODEL, UNKNOWN_MODEL } Model_3D;
81 
82 Model_3D getExtension(const char *file);
83 void set_scene_wrl(const char *str, Bound_scene *sc, float factor);
84 void set_scene(const char *, Bound_scene *, float);
85 void vp2jlc_matrix(const vpHomogeneousMatrix &, Matrix &);
86 
87 #if defined(VISP_HAVE_COIN3D)
88 void extractFaces(SoVRMLIndexedFaceSet *face_set, indexFaceSet *ifs);
89 void ifsToBound(Bound *, std::list<indexFaceSet *> &);
90 void destroyIfs(std::list<indexFaceSet *> &);
91 #endif
92 END_VISP_NAMESPACE
93 #endif
94 #endif
Implementation of an homogeneous matrix and operations on such kind of matrices.