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add operator<< for enum #79

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merged 2 commits into from
Apr 6, 2018
Merged

add operator<< for enum #79

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79c0367
add operator<< for ShapeType
v4hn Apr 6, 2018
0a5e496
put shapes.cpp in namespace
v4hn Apr 6, 2018
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2 changes: 2 additions & 0 deletions include/geometric_shapes/shapes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,8 @@ namespace shapes
/** \brief A list of known shape types */
enum ShapeType { UNKNOWN_SHAPE, SPHERE, CYLINDER, CONE, BOX, PLANE, MESH, OCTREE };

/* convert above enum to printable */
std::ostream& operator<<(std::ostream& ss, ShapeType type);

/** \brief A basic definition of a shape. Shapes are considered centered at origin */
class Shape
Expand Down
139 changes: 84 additions & 55 deletions src/shapes.cpp
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Expand Up @@ -39,76 +39,103 @@
#include <octomap/octomap.h>
#include <console_bridge/console.h>

const std::string shapes::Sphere::STRING_NAME = "sphere";
const std::string shapes::Box::STRING_NAME = "box";
const std::string shapes::Cylinder::STRING_NAME = "cylinder";
const std::string shapes::Cone::STRING_NAME = "cone";
const std::string shapes::Mesh::STRING_NAME = "mesh";
const std::string shapes::Plane::STRING_NAME = "plane";
const std::string shapes::OcTree::STRING_NAME = "octree";

shapes::Shape::Shape()
namespace shapes {

const std::string Sphere::STRING_NAME = "sphere";
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How about using a static const std::map<ShapeType, std::string> ?

C++11 allows for this:

std::map <int, std::string> x { 
  { 42, "foo" }, 
  { 3, "bar" } 
};

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Sure, we can do that. But the static STRING_NAME variables are - ridiculous enough - public API, although not even virtual. So if you like to see this changed please create a melodic branch and file a request there.
I wanted to retain API here to merge into kinetic.

const std::string Box::STRING_NAME = "box";
const std::string Cylinder::STRING_NAME = "cylinder";
const std::string Cone::STRING_NAME = "cone";
const std::string Mesh::STRING_NAME = "mesh";
const std::string Plane::STRING_NAME = "plane";
const std::string OcTree::STRING_NAME = "octree";

std::ostream& operator<<(std::ostream& ss, ShapeType type)
{
switch(type){
case UNKNOWN_SHAPE:
ss << "unknown"; break;
case SPHERE:
ss << Sphere::STRING_NAME; break;
case CYLINDER:
ss << Cylinder::STRING_NAME; break;
case CONE:
ss << Cone::STRING_NAME; break;
case BOX:
ss << Box::STRING_NAME; break;
case PLANE:
ss << Plane::STRING_NAME; break;
case MESH:
ss << Mesh::STRING_NAME; break;
case OCTREE:
ss << OcTree::STRING_NAME; break;
default:
ss << "impossible"; break;
}
return ss;
}

Shape::Shape()
{
type = UNKNOWN_SHAPE;
}

shapes::Shape::~Shape()
Shape::~Shape()
{
}

shapes::Sphere::Sphere() : Shape()
Sphere::Sphere() : Shape()
{
type = SPHERE;
radius = 0.0;
}

shapes::Sphere::Sphere(double r) : Shape()
Sphere::Sphere(double r) : Shape()
{
type = SPHERE;
radius = r;
}

shapes::Cylinder::Cylinder() : Shape()
Cylinder::Cylinder() : Shape()
{
type = CYLINDER;
length = radius = 0.0;
}

shapes::Cylinder::Cylinder(double r, double l) : Shape()
Cylinder::Cylinder(double r, double l) : Shape()
{
type = CYLINDER;
length = l;
radius = r;
}

shapes::Cone::Cone() : Shape()
Cone::Cone() : Shape()
{
type = CONE;
length = radius = 0.0;
}

shapes::Cone::Cone(double r, double l) : Shape()
Cone::Cone(double r, double l) : Shape()
{
type = CONE;
length = l;
radius = r;
}

shapes::Box::Box() : Shape()
Box::Box() : Shape()
{
type = BOX;
size[0] = size[1] = size[2] = 0.0;
}

shapes::Box::Box(double x, double y, double z) : Shape()
Box::Box(double x, double y, double z) : Shape()
{
type = BOX;
size[0] = x;
size[1] = y;
size[2] = z;
}

shapes::Mesh::Mesh() : Shape()
Mesh::Mesh() : Shape()
{
type = MESH;
vertex_count = 0;
Expand All @@ -119,7 +146,7 @@ shapes::Mesh::Mesh() : Shape()
vertex_normals = NULL;
}

shapes::Mesh::Mesh(unsigned int v_count, unsigned int t_count) : Shape()
Mesh::Mesh(unsigned int v_count, unsigned int t_count) : Shape()
{
type = MESH;
vertex_count = v_count;
Expand All @@ -130,7 +157,7 @@ shapes::Mesh::Mesh(unsigned int v_count, unsigned int t_count) : Shape()
vertex_normals = new double[v_count * 3];
}

shapes::Mesh::~Mesh()
Mesh::~Mesh()
{
if (vertices)
delete[] vertices;
Expand All @@ -142,49 +169,49 @@ shapes::Mesh::~Mesh()
delete[] vertex_normals;
}

shapes::Plane::Plane() : Shape()
Plane::Plane() : Shape()
{
type = PLANE;
a = b = c = d = 0.0;
}

shapes::Plane::Plane(double pa, double pb, double pc, double pd) : Shape()
Plane::Plane(double pa, double pb, double pc, double pd) : Shape()
{
type = PLANE;
a = pa; b = pb; c = pc; d = pd;
}

shapes::OcTree::OcTree() : Shape()
OcTree::OcTree() : Shape()
{
type = OCTREE;
}

shapes::OcTree::OcTree(const std::shared_ptr<const octomap::OcTree> &t) : octree(t)
OcTree::OcTree(const std::shared_ptr<const octomap::OcTree> &t) : octree(t)
{
type = OCTREE;
}

shapes::Shape* shapes::Sphere::clone() const
Shape* Sphere::clone() const
{
return new Sphere(radius);
}

shapes::Shape* shapes::Cylinder::clone() const
Shape* Cylinder::clone() const
{
return new Cylinder(radius, length);
}

shapes::Shape* shapes::Cone::clone() const
Shape* Cone::clone() const
{
return new Cone(radius, length);
}

shapes::Shape* shapes::Box::clone() const
Shape* Box::clone() const
{
return new Box(size[0], size[1], size[2]);
}

shapes::Shape* shapes::Mesh::clone() const
Shape* Mesh::clone() const
{
Mesh *dest = new Mesh(vertex_count, triangle_count);
unsigned int n = 3 * vertex_count;
Expand Down Expand Up @@ -212,62 +239,62 @@ shapes::Shape* shapes::Mesh::clone() const
return dest;
}

shapes::Shape* shapes::Plane::clone() const
Shape* Plane::clone() const
{
return new Plane(a, b, c, d);
}

shapes::Shape* shapes::OcTree::clone() const
Shape* OcTree::clone() const
{
return new OcTree(octree);
}

void shapes::OcTree::scaleAndPadd(double scale, double padd)
void OcTree::scaleAndPadd(double scale, double padd)
{
CONSOLE_BRIDGE_logWarn("OcTrees cannot be scaled or padded");
}

void shapes::Plane::scaleAndPadd(double scale, double padding)
void Plane::scaleAndPadd(double scale, double padding)
{
CONSOLE_BRIDGE_logWarn("Planes cannot be scaled or padded");
}

void shapes::Shape::scale(double scale)
void Shape::scale(double scale)
{
scaleAndPadd(scale, 0.0);
}

void shapes::Shape::padd(double padding)
void Shape::padd(double padding)
{
scaleAndPadd(1.0, padding);
}

void shapes::Sphere::scaleAndPadd(double scale, double padding)
void Sphere::scaleAndPadd(double scale, double padding)
{
radius = radius * scale + padding;
}

void shapes::Cylinder::scaleAndPadd(double scale, double padding)
void Cylinder::scaleAndPadd(double scale, double padding)
{
radius = radius * scale + padding;
length = length * scale + 2.0 * padding;
}

void shapes::Cone::scaleAndPadd(double scale, double padding)
void Cone::scaleAndPadd(double scale, double padding)
{
radius = radius * scale + padding;
length = length * scale + 2.0 * padding;
}

void shapes::Box::scaleAndPadd(double scale, double padding)
void Box::scaleAndPadd(double scale, double padding)
{
double p2 = padding * 2.0;
size[0] = size[0] * scale + p2;
size[1] = size[1] * scale + p2;
size[2] = size[2] * scale + p2;
}

void shapes::Mesh::scaleAndPadd(double scale, double padding)
void Mesh::scaleAndPadd(double scale, double padding)
{
// find the center of the mesh
double sx = 0.0, sy = 0.0, sz = 0.0;
Expand Down Expand Up @@ -313,42 +340,42 @@ void shapes::Mesh::scaleAndPadd(double scale, double padding)
}
}

void shapes::Shape::print(std::ostream &out) const
void Shape::print(std::ostream &out) const
{
out << this << std::endl;
}

void shapes::Sphere::print(std::ostream &out) const
void Sphere::print(std::ostream &out) const
{
out << "Sphere[radius=" << radius << "]" << std::endl;
}

void shapes::Cylinder::print(std::ostream &out) const
void Cylinder::print(std::ostream &out) const
{
out << "Cylinder[radius=" << radius << ", length=" << length << "]" << std::endl;
}

void shapes::Cone::print(std::ostream &out) const
void Cone::print(std::ostream &out) const
{
out << "Cone[radius=" << radius << ", length=" << length << "]" << std::endl;
}

void shapes::Box::print(std::ostream &out) const
void Box::print(std::ostream &out) const
{
out << "Box[x=length=" << size[0] << ", y=width=" << size[1] << "z=height=" << size[2] << "]" << std::endl;
}

void shapes::Mesh::print(std::ostream &out) const
void Mesh::print(std::ostream &out) const
{
out << "Mesh[vertices=" << vertex_count << ", triangles=" << triangle_count << "]" << std::endl;
}

void shapes::Plane::print(std::ostream &out) const
void Plane::print(std::ostream &out) const
{
out << "Plane[a=" << a << ", b=" << b << ", c=" << c << ", d=" << d << "]" << std::endl;
}

void shapes::OcTree::print(std::ostream &out) const
void OcTree::print(std::ostream &out) const
{
if (octree)
{
Expand All @@ -363,22 +390,22 @@ void shapes::OcTree::print(std::ostream &out) const
out << "OcTree[NULL]" << std::endl;
}

bool shapes::Shape::isFixed() const
bool Shape::isFixed() const
{
return false;
}

bool shapes::OcTree::isFixed() const
bool OcTree::isFixed() const
{
return true;
}

bool shapes::Plane::isFixed() const
bool Plane::isFixed() const
{
return true;
}

void shapes::Mesh::computeTriangleNormals()
void Mesh::computeTriangleNormals()
{
if (triangle_count && !triangle_normals)
triangle_normals = new double[triangle_count * 3];
Expand All @@ -401,7 +428,7 @@ void shapes::Mesh::computeTriangleNormals()
}
}

void shapes::Mesh::computeVertexNormals()
void Mesh::computeVertexNormals()
{
if (!triangle_normals)
computeTriangleNormals();
Expand Down Expand Up @@ -442,7 +469,7 @@ void shapes::Mesh::computeVertexNormals()
}
}

void shapes::Mesh::mergeVertices(double threshold)
void Mesh::mergeVertices(double threshold)
{
const double thresholdSQR = threshold * threshold;

Expand Down Expand Up @@ -503,3 +530,5 @@ void shapes::Mesh::mergeVertices(double threshold)
if (vertex_normals)
computeVertexNormals();
}

} /* namespace shapes */