# geometric_shapes Documentation

### geometric_shapes: geometric_shapes

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The geometric shapes package provides implementations of basic geometric primitives. It can be used for collision checking, ray intersection and other operations with geoemtric primitives.
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Homepage: http://ros.org/wiki/geometric_shapes
**geometric_shapes** is a package containing the definition of simple shapes such as spheres, boxes, cylinders and meshes. These shapes can be converted into bodies and routines like tests for point inclusion, ray intersection or volume computation are also available.