From df88d024380e0da05605f3600fb9d773393f990b Mon Sep 17 00:00:00 2001
From: Matthew Powelson <matthew.powelson@swri.org>
Date: Mon, 20 May 2019 15:37:44 -0500
Subject: [PATCH] Add Octomap

---
 urdf_model/include/urdf_model/link.h | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/urdf_model/include/urdf_model/link.h b/urdf_model/include/urdf_model/link.h
index e470b43..c756fca 100644
--- a/urdf_model/include/urdf_model/link.h
+++ b/urdf_model/include/urdf_model/link.h
@@ -50,7 +50,7 @@ namespace urdf{
 class Geometry
 {
 public:
-  enum {SPHERE, BOX, CYLINDER, MESH} type;
+  enum {SPHERE, BOX, CYLINDER, MESH, OCTOMAP} type;
 
   virtual ~Geometry(void)
   {
@@ -112,6 +112,24 @@ class Mesh : public Geometry
   };
 };
 
+class Octomap : public Geometry
+{
+public:
+  Octomap() { this->clear(); type = OCTOMAP; };
+  std::string filename;
+  Vector3 scale;
+  enum {BOX, INSIDE_SPHERE, OUTSIDE_SPHERE} octomap_type = BOX;
+
+  void clear()
+  {
+    filename.clear();
+    // default scale
+    scale.x = 1;
+    scale.y = 1;
+    scale.z = 1;
+  };
+};
+
 class Material
 {
 public: