File: shape_msgs/SolidPrimitive.msg
Raw Message Definition
# Define box, sphere, cylinder, cone
# All shapes are defined to have their bounding boxes centered around 0,0,0.
uint8 BOX=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 CONE=4
# The type of the shape
uint8 type
# The dimensions of the shape
float64[] dimensions
# The meaning of the shape dimensions: each constant defines the index in the 'dimensions' array
# For the BOX type, the X, Y, and Z dimensions are the length of the corresponding
# sides of the box.
uint8 BOX_X=0
uint8 BOX_Y=1
uint8 BOX_Z=2
# For the SPHERE type, only one component is used, and it gives the radius of
# the sphere.
uint8 SPHERE_RADIUS=0
# For the CYLINDER and CONE types, the center line is oriented along
# the Z axis. Therefore the CYLINDER_HEIGHT (CONE_HEIGHT) component
# of dimensions gives the height of the cylinder (cone). The
# CYLINDER_RADIUS (CONE_RADIUS) component of dimensions gives the
# radius of the base of the cylinder (cone). Cone and cylinder
# primitives are defined to be circular. The tip of the cone is
# pointing up, along +Z axis.
uint8 CYLINDER_HEIGHT=0
uint8 CYLINDER_RADIUS=1
uint8 CONE_HEIGHT=0
uint8 CONE_RADIUS=1
Compact Message Definition
uint8 BOX=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 CONE=4
uint8 BOX_X=0
uint8 BOX_Y=1
uint8 BOX_Z=2
uint8 SPHERE_RADIUS=0
uint8 CYLINDER_HEIGHT=0
uint8 CYLINDER_RADIUS=1
uint8 CONE_HEIGHT=0
uint8 CONE_RADIUS=1
uint8 type
float64[] dimensions