shape_operations.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
00038 #define GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
00039 
00040 #include "geometric_shapes/shapes.h"
00041 #include "geometric_shapes/shape_messages.h"
00042 #include "geometric_shapes/mesh_operations.h"
00043 #include <visualization_msgs/Marker.h>
00044 #include <iostream>
00045 
00046 namespace shapes
00047 {
00048 
00050 Shape* constructShapeFromMsg(const shape_msgs::SolidPrimitive &shape_msg);
00051 
00053 Shape* constructShapeFromMsg(const shape_msgs::Plane &shape_msg);
00054 
00056 Shape* constructShapeFromMsg(const shape_msgs::Mesh &shape_msg);
00057 
00059 Shape* constructShapeFromMsg(const ShapeMsg &shape_msg);
00060 
00062 bool constructMsgFromShape(const Shape* shape, ShapeMsg &shape_msg);
00063 
00065 bool constructMarkerFromShape(const Shape* shape, visualization_msgs::Marker &mk, bool use_mesh_triangle_list = false);
00066 
00068 Eigen::Vector3d computeShapeExtents(const ShapeMsg &shape_msg);
00069 
00071 Eigen::Vector3d computeShapeExtents(const Shape *shape);
00072 
00074 void computeShapeBoundingSphere(const Shape *shape, Eigen::Vector3d& center, double& radius);
00075 
00077 const std::string& shapeStringName(const Shape *shape);
00078 
00080 void saveAsText(const Shape *shape, std::ostream &out);
00081 
00083 Shape* constructShapeFromText(std::istream &in);
00084 
00085 }
00086 
00087 #endif


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Thu Jun 6 2019 20:13:53