.. _program_listing_file__tmp_ws_src_geometric_shapes_include_geometric_shapes_shape_operations.h:

Program Listing for File shape_operations.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_geometric_shapes_include_geometric_shapes_shape_operations.h>` (``/tmp/ws/src/geometric_shapes/include/geometric_shapes/shape_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 */
   
   #ifndef GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
   #define GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
   
   #include <geometric_shapes/shapes.h>
   #include <geometric_shapes/shape_messages.h>
   #include <geometric_shapes/mesh_operations.h>
   #include <visualization_msgs/msg/marker.hpp>
   #include <iostream>
   
   namespace shapes
   {
   Shape* constructShapeFromMsg(const shape_msgs::msg::SolidPrimitive& shape_msg);
   
   Shape* constructShapeFromMsg(const shape_msgs::msg::Plane& shape_msg);
   
   Shape* constructShapeFromMsg(const shape_msgs::msg::Mesh& shape_msg);
   
   Shape* constructShapeFromMsg(const ShapeMsg& shape_msg);
   
   bool constructMsgFromShape(const Shape* shape, ShapeMsg& shape_msg);
   
   bool constructMarkerFromShape(const Shape* shape, visualization_msgs::msg::Marker& mk,
                                 bool use_mesh_triangle_list = false);
   
   Eigen::Vector3d computeShapeExtents(const ShapeMsg& shape_msg);
   
   Eigen::Vector3d computeShapeExtents(const Shape* shape);
   
   void computeShapeBoundingSphere(const Shape* shape, Eigen::Vector3d& center, double& radius);
   
   const std::string& shapeStringName(const Shape* shape);
   
   void saveAsText(const Shape* shape, std::ostream& out);
   
   Shape* constructShapeFromText(std::istream& in);
   }  // namespace shapes
   
   #endif