.. _program_listing_file__tmp_ws_src_geometric_shapes_include_geometric_shapes_body_operations.h:

Program Listing for File body_operations.h
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_geometric_shapes_include_geometric_shapes_body_operations.h>` (``/tmp/ws/src/geometric_shapes/include/geometric_shapes/body_operations.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2008 Willow Garage, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage, Inc. nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /* Author: Ioan Sucan, E. Gil Jones */
   
   #ifndef GEOMETRIC_SHAPES_BODY_OPERATIONS_
   #define GEOMETRIC_SHAPES_BODY_OPERATIONS_
   
   #include "geometric_shapes/shapes.h"
   #include "geometric_shapes/bodies.h"
   #include "geometric_shapes/shape_messages.h"
   #include <geometry_msgs/msg/pose.hpp>
   #include <visualization_msgs/msg/marker.hpp>
   #include <vector>
   
   namespace bodies
   {
   Body* createEmptyBodyFromShapeType(const shapes::ShapeType& shapeType);
   
   Body* createBodyFromShape(const shapes::Shape* shape);
   
   Body* constructBodyFromMsg(const shape_msgs::msg::Mesh& shape, const geometry_msgs::msg::Pose& pose);
   
   Body* constructBodyFromMsg(const shape_msgs::msg::SolidPrimitive& shape, const geometry_msgs::msg::Pose& pose);
   
   Body* constructBodyFromMsg(const shapes::ShapeMsg& shape, const geometry_msgs::msg::Pose& pose);
   
   shapes::ShapeConstPtr constructShapeFromBody(const bodies::Body* body);
   
   void constructMarkerFromBody(const bodies::Body* body, visualization_msgs::msg::Marker& msg);
   
   void mergeBoundingSpheres(const std::vector<BoundingSphere>& spheres, BoundingSphere& mergedSphere);
   
   void mergeBoundingBoxes(const std::vector<AABB>& boxes, AABB& mergedBox);
   
   void computeBoundingSphere(const std::vector<const Body*>& bodies, BoundingSphere& mergedSphere);
   }  // namespace bodies
   #endif