body_operations.h File Reference

`#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>`

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## Namespaces | |

bodies | |

This set of classes allows quickly detecting whether a given point is inside an object or not. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example). | |

## Functions | |

void | bodies::computeBoundingSphere (const std::vector< const Body * > &bodies, BoundingSphere &mergedSphere) |

Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere. More... | |

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

Create a body from a given shape. More... | |

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

Create a body from a given shape. More... | |

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

Create a body from a given shape. More... | |

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

Construct a Marker message that corresponds to this (scaled and padded) body. More... | |

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

Get a shape that corresponds to this (scaled and padded) body. More... | |

Body * | bodies::createBodyFromShape (const shapes::Shape *shape) |

Create a body from a given shape. More... | |

Body * | bodies::createEmptyBodyFromShapeType (const shapes::ShapeType &shapeType) |

Create a body from a given shape. More... | |

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

Compute an axis-aligned bounding box to enclose a set of bounding boxes. More... | |

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

Compute an approximate oriented bounding box to enclose a set of bounding boxes. More... | |

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

Compute a bounding sphere to enclose a set of bounding spheres. More... | |