solid_primitive_dims.h

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#ifndef GEOMETRIC_SHAPES_SOLID_PRIMITIVE_DIMS_
#define GEOMETRIC_SHAPES_SOLID_PRIMITIVE_DIMS_

#include <shape_msgs/SolidPrimitive.h>

namespace geometric_shapes
{

template<int>
struct SolidPrimitiveDimCount
{
  enum { value = 0 };
};

template<>
struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE>
{
  enum
    {
      value = static_cast<int>(shape_msgs::SolidPrimitive::SPHERE_RADIUS) + 1
    };
};

template<>
struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::BOX>
{
  enum
    {
      value = (static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) &&
               static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z)) ?
      static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) :
      (((static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) &&
         static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z))) ?
       static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) :
       ((static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) &&
         static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y)) ?
        static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) : 0)) + 1
    };
};

template<>
struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CONE>
{
  enum
    {
      value = (static_cast<int>(shape_msgs::SolidPrimitive::CONE_RADIUS) >= static_cast<int>(shape_msgs::SolidPrimitive::CONE_HEIGHT) ?
               static_cast<int>(shape_msgs::SolidPrimitive::CONE_RADIUS) : static_cast<int>(shape_msgs::SolidPrimitive::CONE_HEIGHT)) + 1
    };
};

template<>
struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CYLINDER>
{
  enum
    {
      value = (static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_RADIUS) >= static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_HEIGHT) ?
               static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_RADIUS) : static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_HEIGHT)) + 1
    };
};


}

#endif