.. _program_listing_file__tmp_ws_src_vision_msgs_vision_msgs_include_vision_msgs_create_aabb.hpp:

Program Listing for File create_aabb.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_vision_msgs_vision_msgs_include_vision_msgs_create_aabb.hpp>` (``/tmp/ws/src/vision_msgs/vision_msgs/include/vision_msgs/create_aabb.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2017 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef VISION_MSGS__CREATE_AABB_HPP_
   #define VISION_MSGS__CREATE_AABB_HPP_
   
   #include "vision_msgs/msg/bounding_box2_d.hpp"
   #include "vision_msgs/msg/bounding_box3_d.hpp"
   
   namespace vision_msgs
   {
   static inline msg::BoundingBox2D createAABB2D(
     uint32_t left,
     uint32_t top,
     uint32_t width,
     uint32_t height)
   {
     msg::BoundingBox2D bbox;
   
     bbox.center.position.x = left + width / 2.0;
     bbox.center.position.y = top + height / 2.0;
     bbox.size_x = width;
     bbox.size_y = height;
   
     return bbox;
   }
   
   static inline msg::BoundingBox3D createAABB3D(
     uint32_t min_x,
     uint32_t min_y,
     uint32_t min_z,
     uint32_t size_x,
     uint32_t size_y,
     uint32_t size_z)
   {
     msg::BoundingBox3D bbox;
   
     bbox.center.position.x = min_x + size_x / 2.0;
     bbox.center.position.y = min_y + size_y / 2.0;
     bbox.center.position.z = min_z + size_z / 2.0;
     bbox.center.orientation.w = 1;
     bbox.size.x = size_x;
     bbox.size.y = size_y;
     bbox.size.z = size_z;
   
     return bbox;
   }
   }  // namespace vision_msgs
   
   #endif  // VISION_MSGS__CREATE_AABB_HPP_