shape_extents.cpp

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#include <shape_tools/shape_extents.h>
#include <limits>

void shape_tools::getShapeExtents(const shape_msgs::SolidPrimitive& shape_msg, double& x_extent, double& y_extent, double& z_extent)
{
  x_extent = y_extent = z_extent = 0.0;

  if (shape_msg.type == shape_msgs::SolidPrimitive::SPHERE)
  {
    if (shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::SPHERE_RADIUS)
      x_extent = y_extent = z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::SPHERE_RADIUS] * 2.0;
  }
  else if (shape_msg.type == shape_msgs::SolidPrimitive::BOX)
  {
    if (shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::BOX_X &&
        shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::BOX_Y &&
        shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::BOX_Z)
    {
      x_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_X];
      y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Y];
      z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Z];
    }
  } 
  else if (shape_msg.type == shape_msgs::SolidPrimitive::CYLINDER)
  {
    if (shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::CYLINDER_RADIUS &&
        shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::CYLINDER_HEIGHT)
    {
      x_extent = y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_RADIUS] * 2.0;
      z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_HEIGHT];
    }
  } 
  else if (shape_msg.type == shape_msgs::SolidPrimitive::CONE)
  {
    if (shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::CONE_RADIUS &&
        shape_msg.dimensions.size() > shape_msgs::SolidPrimitive::CONE_HEIGHT)
    {
      x_extent = y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_RADIUS] * 2.0;
      z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_HEIGHT];
    }
  }
}

void shape_tools::getShapeExtents(const shape_msgs::Mesh& shape_msg, double& x_extent, double& y_extent, double& z_extent)
{
  x_extent = y_extent = z_extent = 0.0;
  if (shape_msg.vertices.size() > 0) 
  {
    double xmin = std::numeric_limits<double>::max(), ymin = std::numeric_limits<double>::max(), zmin = std::numeric_limits<double>::max();
    double xmax = -std::numeric_limits<double>::max(), ymax = -std::numeric_limits<double>::max(), zmax = -std::numeric_limits<double>::max();
    for (std::size_t i = 0; i < shape_msg.vertices.size() ; ++i)
    {
      if (shape_msg.vertices[i].x > xmax)
        xmax = shape_msg.vertices[i].x;
      if (shape_msg.vertices[i].x < xmin)
        xmin = shape_msg.vertices[i].x;
      if (shape_msg.vertices[i].y > ymax)
        ymax = shape_msg.vertices[i].y;
      if (shape_msg.vertices[i].y < ymin)
        ymin = shape_msg.vertices[i].y;
      if (shape_msg.vertices[i].z > zmax)
        zmax = shape_msg.vertices[i].z;
      if (shape_msg.vertices[i].z < zmin)
        zmin = shape_msg.vertices[i].z;
    }
    x_extent = xmax-xmin;
    y_extent = ymax-ymin;
    z_extent = zmax-zmin;
  }
}