shape_extents.cpp
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00034 
00035 #include <shape_tools/shape_extents.h>
00036 #include <limits>
00037 
00038 void shape_tools::getShapeExtents(const shape_msgs::SolidPrimitive& shape_msg, double& x_extent, double& y_extent, double& z_extent)
00039 {
00040   x_extent = y_extent = z_extent = 0.0;
00041 
00042   if (shape_msg.type == shape_msgs::SolidPrimitive::SPHERE)
00043   {
00044     if (shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::SPHERE_RADIUS)
00045       x_extent = y_extent = z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::SPHERE_RADIUS] * 2.0;
00046   }
00047   else if (shape_msg.type == shape_msgs::SolidPrimitive::BOX)
00048   {
00049     if (shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::BOX_X &&
00050         shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::BOX_Y &&
00051         shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::BOX_Z)
00052     {
00053       x_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_X];
00054       y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Y];
00055       z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Z];
00056     }
00057   } 
00058   else if (shape_msg.type == shape_msgs::SolidPrimitive::CYLINDER)
00059   {
00060     if (shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::CYLINDER_RADIUS &&
00061         shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::CYLINDER_HEIGHT)
00062     {
00063       x_extent = y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_RADIUS] * 2.0;
00064       z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_HEIGHT];
00065     }
00066   } 
00067   else if (shape_msg.type == shape_msgs::SolidPrimitive::CONE)
00068   {
00069     if (shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::CONE_RADIUS &&
00070         shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::CONE_HEIGHT)
00071     {
00072       x_extent = y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_RADIUS] * 2.0;
00073       z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_HEIGHT];
00074     }
00075   }
00076 }
00077 
00078 void shape_tools::getShapeExtents(const shape_msgs::Mesh& shape_msg, double& x_extent, double& y_extent, double& z_extent)
00079 {
00080   x_extent = y_extent = z_extent = 0.0;
00081   if (shape_msg.vertices.size() > 0) 
00082   {
00083     double xmin = std::numeric_limits<double>::max(), ymin = std::numeric_limits<double>::max(), zmin = std::numeric_limits<double>::max();
00084     double xmax = -std::numeric_limits<double>::max(), ymax = -std::numeric_limits<double>::max(), zmax = -std::numeric_limits<double>::max();
00085     for (std::size_t i = 0; i < shape_msg.vertices.size() ; ++i)
00086     {
00087       if (shape_msg.vertices[i].x > xmax)
00088         xmax = shape_msg.vertices[i].x;
00089       if (shape_msg.vertices[i].x < xmin)
00090         xmin = shape_msg.vertices[i].x;
00091       if (shape_msg.vertices[i].y > ymax)
00092         ymax = shape_msg.vertices[i].y;
00093       if (shape_msg.vertices[i].y < ymin)
00094         ymin = shape_msg.vertices[i].y;
00095       if (shape_msg.vertices[i].z > zmax)
00096         zmax = shape_msg.vertices[i].z;
00097       if (shape_msg.vertices[i].z < zmin)
00098         zmin = shape_msg.vertices[i].z;
00099     }
00100     x_extent = xmax-xmin;
00101     y_extent = ymax-ymin;
00102     z_extent = zmax-zmin;
00103   }
00104 }
00105 


shape_tools
Author(s): Ioan Sucan , Gil Jones
autogenerated on Sat Jun 8 2019 20:37:28