body_operations.h

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/* Author: Ioan Sucan, E. Gil Jones */

#ifndef GEOMETRIC_SHAPES_BODY_OPERATIONS_
#define GEOMETRIC_SHAPES_BODY_OPERATIONS_

#include "geometric_shapes/shapes.h"
#include "geometric_shapes/bodies.h"
#include "geometric_shapes/shape_messages.h"
#include <geometry_msgs/Pose.h>
#include <visualization_msgs/Marker.h>
#include <vector>

namespace bodies
{
Body* createEmptyBodyFromShapeType(const shapes::ShapeType& shapeType);

Body* createBodyFromShape(const shapes::Shape* shape);

Body* constructBodyFromMsg(const shape_msgs::Mesh& shape, const geometry_msgs::Pose& pose);

Body* constructBodyFromMsg(const shape_msgs::SolidPrimitive& shape, const geometry_msgs::Pose& pose);

Body* constructBodyFromMsg(const shapes::ShapeMsg& shape, const geometry_msgs::Pose& pose);

shapes::ShapeConstPtr constructShapeFromBody(const bodies::Body* body);

void constructMarkerFromBody(const bodies::Body* body, visualization_msgs::Marker& msg);

void mergeBoundingSpheres(const std::vector<BoundingSphere>& spheres, BoundingSphere& mergedSphere);

void mergeBoundingBoxes(const std::vector<AABB>& boxes, AABB& mergedBox);

void mergeBoundingBoxesApprox(const std::vector<OBB>& boxes, OBB& mergedBox);

void computeBoundingSphere(const std::vector<const Body*>& bodies, BoundingSphere& mergedSphere);
}  // namespace bodies
#endif