Add stateful API

VirtualRobot/XML/mujoco/MeshConverter.cpp

@@ -131,4 +131,37 @@ Mesh MeshConverter::toMujoco(const VirtualRobot::TriMeshModel& triMeshModel, flo
     return fromVirtualRobot(triMeshModel, scaling);
 }
 
+MeshConverter::MeshConverter() = default;
+
+
+float MeshConverter::getScaling() const
+{
+    return scaling;
+}
+
+void MeshConverter::setScaling(float value)
+{
+    this->scaling = value;
+}
+
+TriMeshModel MeshConverter::toVirtualRobot(const Mesh& mesh)
+{
+    return toVirtualRobot(mesh, scaling);
+}
+
+TriMeshModelPtr MeshConverter::toVirtualRobotPtr(const Mesh& mesh)
+{
+    return toVirtualRobotPtr(mesh, scaling);
+}
+
+Mesh MeshConverter::fromVirtualRobot(const TriMeshModel& triMeshModel)
+{
+    return fromVirtualRobot(triMeshModel, scaling);
+}
+
+Mesh MeshConverter::toMujoco(const TriMeshModel& triMeshModel)
+{
+    return toMujoco(triMeshModel, scaling);
+}
+
 }

VirtualRobot/XML/mujoco/MeshConverter.h

@@ -14,7 +14,9 @@ namespace VirtualRobot::mujoco
     {
     public:
         
-        // From mujoco::Mesh
+        // STATELESS API (static).
+        
+        // From mujoco::Mesh to VirtualRobot::TriMeshModel
         
         /// Construct a VirtualRobot::TriMeshModel from mujoco::Mesh.
         static VirtualRobot::TriMeshModel toVirtualRobot(const mujoco::Mesh& mesh,
@@ -23,7 +25,7 @@ namespace VirtualRobot::mujoco
                                                                float scaling = 1.0);
        
         
-        // To mujoco::Mesh
+        // To mujoco::Mesh (from VirtualRobot::TriMeshModel)
         
         /// Construct mujoco::Mesh from a VirtualRobot::TriMeshModel.
         static mujoco::Mesh fromVirtualRobot(const VirtualRobot::TriMeshModel& triMeshModel,
@@ -33,10 +35,52 @@ namespace VirtualRobot::mujoco
         static mujoco::Mesh toMujoco(const VirtualRobot::TriMeshModel& triMeshModel,
                                      float scaling = 1.0);
         
+    public:
+        
+        // STATEFUL API.
+        
+        
+        /// Constructor.
+        MeshConverter();
+        
+        
+        /// Set the scaling.
+        float getScaling() const;
+        /// Get the scaling.
+        void setScaling(float value);
+        
+        
+        // From mujoco::Mesh to VirtualRobot::TriMeshModel
+        
+        /// Construct a VirtualRobot::TriMeshModel from mujoco::Mesh.
+        VirtualRobot::TriMeshModel toVirtualRobot(const mujoco::Mesh& mesh);
+        VirtualRobot::TriMeshModelPtr toVirtualRobotPtr(const mujoco::Mesh& mesh);
+       
+        
+        // To mujoco::Mesh (from VirtualRobot::TriMeshModel)
+        
+        /// Construct mujoco::Mesh from a VirtualRobot::TriMeshModel.
+        mujoco::Mesh fromVirtualRobot(const VirtualRobot::TriMeshModel& triMeshModel);
+        
+        /// Construct mujoco::Mesh from a VirtualRobot::TriMeshModel.
+        mujoco::Mesh toMujoco(const VirtualRobot::TriMeshModel& triMeshModel);
+        
+        
+        
+    private:
+        
+        /// Check whether the command `MESHLABSERVER` is available using `system("which ...")`.
+        static bool checkMeshlabserverAvailable();
+        
+        
+        /// Command used to convert mesh files to STL.
+        static const std::string MESHLABSERVER;
+        
+        
     private:
         
-        /// Private constructor.
-        MeshConverter() = default;
+        /// The scaling.
+        float scaling = 1.0f;
         
     };