Visual Servoing Platform version 3.7.0
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vpScene.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 *
32 * Authors:
33 * Jean-Luc CORRE
34 */
35
36#ifndef vpScene_h
37#define vpScene_h
38
39#include <visp3/core/vpConfig.h>
40
41#ifndef DOXYGEN_SHOULD_SKIP_THIS
42
43#include "vpBound.h"
44#include <visp3/core/vpHomogeneousMatrix.h>
45#include <visp3/robot/vpWireFrameSimulatorTypes.h>
46
47// Inventor includes
48#if defined(VISP_HAVE_COIN3D)
49#include <Inventor/VRMLnodes/SoVRMLCoordinate.h>
50#include <Inventor/VRMLnodes/SoVRMLGroup.h>
51#include <Inventor/VRMLnodes/SoVRMLIndexedFaceSet.h>
52#include <Inventor/VRMLnodes/SoVRMLIndexedLineSet.h>
53#include <Inventor/VRMLnodes/SoVRMLShape.h>
54#include <Inventor/actions/SoGetMatrixAction.h>
55#include <Inventor/actions/SoGetPrimitiveCountAction.h>
56#include <Inventor/actions/SoSearchAction.h>
57#include <Inventor/actions/SoToVRML2Action.h>
58#include <Inventor/actions/SoWriteAction.h>
59#include <Inventor/misc/SoChildList.h>
60#include <Inventor/nodes/SoSeparator.h>
61
62#include <list>
63#include <vector>
64
65BEGIN_VISP_NAMESPACE
66typedef struct indexFaceSet
67{
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;
74END_VISP_NAMESPACE
75#endif
76
77BEGIN_VISP_NAMESPACE
78typedef enum { BND_MODEL, WRL_MODEL, UNKNOWN_MODEL } Model_3D;
79
80Model_3D getExtension(const char *file);
81void set_scene_wrl(const char *str, Bound_scene *sc, float factor);
82void set_scene(const char *, Bound_scene *, float);
83void vp2jlc_matrix(const vpHomogeneousMatrix &, Matrix &);
84
85#if defined(VISP_HAVE_COIN3D)
86void extractFaces(SoVRMLIndexedFaceSet *face_set, indexFaceSet *ifs);
87void ifsToBound(Bound *, std::list<indexFaceSet *> &);
88void destroyIfs(std::list<indexFaceSet *> &);
89#endif
90END_VISP_NAMESPACE
91#endif
92#endif
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition vpHomogeneousMatrix.h:221
BEGIN_VISP_NAMESPACE
Definition vpMbtDistanceCircle.cpp:55