construct_object.cpp

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#include "planning_environment/util/construct_object.h"
#include <geometric_shapes/shape_operations.h>
#include <ros/console.h>

shapes::Shape* planning_environment::constructObject(const geometric_shapes_msgs::Shape &obj)
{
    shapes::Shape *shape = NULL;
    if (obj.type == geometric_shapes_msgs::Shape::SPHERE)
    {
        if (obj.dimensions.size() != 1)
            ROS_ERROR("Unexpected number of dimensions in sphere definition");
        else
            shape = new shapes::Sphere(obj.dimensions[0]);
    }
    else
    if (obj.type == geometric_shapes_msgs::Shape::BOX)
    {
        if (obj.dimensions.size() != 3)
            ROS_ERROR("Unexpected number of dimensions in box definition");
        else
            shape = new shapes::Box(obj.dimensions[0], obj.dimensions[1], obj.dimensions[2]);
    }
    else
    if (obj.type == geometric_shapes_msgs::Shape::CYLINDER)
    {
        if (obj.dimensions.size() != 2)
            ROS_ERROR("Unexpected number of dimensions in cylinder definition");
        else
            shape = new shapes::Cylinder(obj.dimensions[0], obj.dimensions[1]);
    }   
    else
    if (obj.type == geometric_shapes_msgs::Shape::MESH)
    {
        if (obj.dimensions.size() != 0)
            ROS_ERROR("Unexpected number of dimensions in mesh definition");
        else
        {
            if (obj.triangles.size() % 3 != 0)
                ROS_ERROR("Number of triangle indices is not divisible by 3");
            else
            {
                if (obj.triangles.empty() || obj.vertices.empty())
                    ROS_ERROR("Mesh definition is empty");
                else
                {
                    std::vector<btVector3>    vertices(obj.vertices.size());
                    std::vector<unsigned int> triangles(obj.triangles.size());
                    for (unsigned int i = 0 ; i < obj.vertices.size() ; ++i)
                        vertices[i].setValue(obj.vertices[i].x, obj.vertices[i].y, obj.vertices[i].z);
                    for (unsigned int i = 0 ; i < obj.triangles.size() ; ++i)
                        triangles[i] = obj.triangles[i];
                    shape = shapes::createMeshFromVertices(vertices, triangles);
                }
            }
        }
    }
    
    if (shape == NULL)
        ROS_ERROR("Unable to construct shape corresponding to object of type %d", (int)obj.type);
    
    return shape;
}


bool planning_environment::constructObjectMsg(const shapes::Shape* shape, geometric_shapes_msgs::Shape &obj, double padding)
{
    obj.dimensions.clear();
    obj.vertices.clear();
    obj.triangles.clear();
    if (shape->type == shapes::SPHERE)
    {
        obj.type = geometric_shapes_msgs::Shape::SPHERE;
        obj.dimensions.push_back(static_cast<const shapes::Sphere*>(shape)->radius+padding);
    }
    else
    if (shape->type == shapes::BOX)
    {
        obj.type = geometric_shapes_msgs::Shape::BOX;
        const double* sz = static_cast<const shapes::Box*>(shape)->size;        
        obj.dimensions.push_back(sz[0]+padding*2.0);
        obj.dimensions.push_back(sz[1]+padding*2.0);
        obj.dimensions.push_back(sz[2]+padding*2.0);
    }
    else
    if (shape->type == shapes::CYLINDER)
    {   
        obj.type = geometric_shapes_msgs::Shape::CYLINDER;
        obj.dimensions.push_back(static_cast<const shapes::Cylinder*>(shape)->radius+padding);
        obj.dimensions.push_back(static_cast<const shapes::Cylinder*>(shape)->length+padding*2.0);
    }
    else
    if (shape->type == shapes::MESH)
    {
      obj.type = geometric_shapes_msgs::Shape::MESH;

        const shapes::Mesh *mesh = static_cast<const shapes::Mesh*>(shape);
        const unsigned int t3 = mesh->triangleCount * 3;

        obj.vertices.resize(mesh->vertexCount);
        obj.triangles.resize(t3);
        
        double sx = 0.0, sy = 0.0, sz = 0.0;
        for (unsigned int i = 0 ; i < mesh->vertexCount ; ++i)
        {
          unsigned int i3 = i * 3;
          obj.vertices[i].x = mesh->vertices[i3];
          obj.vertices[i].y = mesh->vertices[i3 + 1];
          obj.vertices[i].z = mesh->vertices[i3 + 2];
          sx += obj.vertices[i].x;
          sy += obj.vertices[i].y;
          sz += obj.vertices[i].z;
        }
        // the center of the mesh
        sx /= (double)mesh->vertexCount;
        sy /= (double)mesh->vertexCount;
        sz /= (double)mesh->vertexCount;

        // scale the mesh
        for (unsigned int i = 0 ; i < mesh->vertexCount ; ++i)
        {
          // vector from center to the vertex
          double dx = obj.vertices[i].x - sx;
          double dy = obj.vertices[i].y - sy;
          double dz = obj.vertices[i].z - sz;
                
          //double theta_xy = atan2(dy,dx);
          //double theta_xz = atan2(dz,dx);

          double ndx = ((dx > 0) ? dx+padding : dx-padding);
          double ndy = ((dy > 0) ? dy+padding : dy-padding);
          double ndz = ((dz > 0) ? dz+padding : dz-padding);

          obj.vertices[i].x = sx + ndx;
          obj.vertices[i].y = sy + ndy;
          obj.vertices[i].z = sz + ndz;
        }

        //for (unsigned int i = 0 ; i < mesh->vertexCount ; ++i)
        //{
        //    obj.vertices[i].x = mesh->vertices[3 * i    ];
        //    obj.vertices[i].y = mesh->vertices[3 * i + 1];
        //    obj.vertices[i].z = mesh->vertices[3 * i + 2];
        //}
        
        for (unsigned int i = 0 ; i < t3  ; ++i)
            obj.triangles[i] = mesh->triangles[i];
    }
    else
    {
        ROS_ERROR("Unable to construct object message for shape of type %d", (int)shape->type);
        return false;
    }
    
    return true;
}

---

planning_environment
Author(s): Ioan Sucan
autogenerated on Fri Jan 11 10:03:02 2013