body_operations.h File Reference

#include "geometric_shapes/shapes.h"
#include "geometric_shapes/bodies.h"
#include "geometric_shapes/shape_messages.h"
#include <geometry_msgs/Pose.h>
#include <vector>

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Namespaces
namespace	bodies
	This set of classes allows quickly detecting whether a given point is inside an object or not. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example).
Functions
void	bodies::computeBoundingSphere (const std::vector< const Body * > &bodies, BoundingSphere &mergedSphere)
	Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere.
Body *	bodies::constructBodyFromMsg (const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose)
	Create a body from a given shape.
Body *	bodies::constructBodyFromMsg (const shape_msgs::SolidPrimitive &shape, const geometry_msgs::Pose &pose)
	Create a body from a given shape.
Body *	bodies::constructBodyFromMsg (const shapes::ShapeMsg &shape, const geometry_msgs::Pose &pose)
	Create a body from a given shape.
Body *	bodies::createBodyFromShape (const shapes::Shape *shape)
	Create a body from a given shape.
void	bodies::mergeBoundingSpheres (const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere)
	Compute a bounding sphere to enclose a set of bounding spheres.