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STLLoader.hh
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1 /*
2  * Copyright (C) 2012-2014 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
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _STLLOADER_HH_
18 #define _STLLOADER_HH_
19 
20 #include <stdint.h>
21 #include <string>
22 
24 
25 #define LINE_MAX_LEN 256
26 #define COR3_MAX 200000
27 #define ORDER_MAX 10
28 #define FACE_MAX 200000
29 
30 namespace gazebo
31 {
32  namespace common
33  {
36 
39  class STLLoader : public MeshLoader
40  {
42  public: STLLoader();
43 
45  public: virtual ~STLLoader();
46 
49  public: virtual Mesh *Load(const std::string &_filename);
50 
55  private: bool ReadAscii(FILE *_filein, Mesh *_mesh);
56 
61  private: bool ReadBinary(FILE *_filein, Mesh *_mesh);
62 
67  private: bool Leqi(char* _string1, char* _string2);
68 
75  private: int RcolFind(float _a[][COR3_MAX], int _m, int _n, float _r[]);
76 
80  private: uint32_t LongIntRead(FILE *_filein);
81 
86  private: bool ShortIntRead(FILE *_filein, uint16_t &_value);
87 
92  private: bool FloatRead(FILE *_filein, double &_value);
93  };
95  }
96 }
97 #endif
98