model_loader.h

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#ifndef ED_MODEL_LOADER_H_
#define ED_MODEL_LOADER_H_
 
#include "ed/uuid.h"
 
#include <geolib/datatypes.h>
#include <tue/config/data_pointer.h>
 
#include <map>
#include <vector>
 
namespace ed
{
 
namespace models
{
 
class ModelLoader
{
 
public:
 
    ModelLoader();
 
    ~ModelLoader();
 
    bool create(const UUID& id, const std::string& type, UpdateRequest& req, std::stringstream& error, const bool allow_sdf=false);
 
    bool create(const tue::config::DataConstPointer& data, UpdateRequest& req, std::stringstream& error);
 
    bool create(const tue::config::DataConstPointer& data, const UUID& id_opt, const UUID& parent_id,
                UpdateRequest& req, std::stringstream& error, const std::string& model_path = "",
                const geo::Pose3D& pose_offset = geo::Pose3D::identity());
 
    bool createSDF(const tue::config::DataConstPointer& data, const UUID& parent_id, const geo::Pose3D& parent_pose,
                   const UUID& id_override, const boost::shared_ptr<const geo::Pose3D> pose_override,
                   UpdateRequest& req, std::stringstream& error);
 
    bool exists(const std::string& type) const;
 
private:
 
    typedef std::pair<tue::config::DataConstPointer, std::vector<std::string> > ModelData;
 
    // Model name to model data
    std::map<std::string, ModelData> model_cache_;
 
    // Shape filename to shape
    std::map<std::string, geo::ShapePtr> shape_cache_;
 
    // Vectors which contain the paths, where models can be found
    std::vector<std::string> ed_model_paths_; // ED_MODEL_PATH
    std::vector<std::string> model_paths_; // GAZEBO_MODEL_PATH
    std::vector<std::string> file_paths_; // GAZEBO_RESOURCE_PATH
 
    tue::config::DataConstPointer loadModelData(std::string type, std::vector<std::string>& types,
                                                std::stringstream& error, const bool allow_sdf=false);
 
    tue::config::DataConstPointer loadSDFData(std::string uri, std::stringstream& error);
 
 
    std::string getModelPath(const std::string& type) const;
 
    std::string getSDFPath(const std::string& uri) const;
 
    ModelData readModelCache(std::string type) const;
 
};
 
 
enum class LoadType
{
   FILE,
   MODEL,
};
 
 
bool loadModel(const LoadType load_type, const std::string& source, ed::UpdateRequest& req);
 
} // end namespace models
 
} // end namespace ed
 
#endif