construct_object.cpp

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#include "planning_environment/util/construct_object.h"
#include <geometric_shapes/shape_operations.h>
#include <ros/console.h>

shapes::Shape* planning_environment::constructObject(const arm_navigation_msgs::Shape &obj)
{
    shapes::Shape *shape = NULL;
    if (obj.type == arm_navigation_msgs::Shape::SPHERE)
    {
        if (obj.dimensions.size() != 1)
            ROS_ERROR("Unexpected number of dimensions in sphere definition");
        else
            shape = new shapes::Sphere(obj.dimensions[0]);
    }
    else
    if (obj.type == arm_navigation_msgs::Shape::BOX)
    {
        if (obj.dimensions.size() != 3)
            ROS_ERROR("Unexpected number of dimensions in box definition");
        else
            shape = new shapes::Box(obj.dimensions[0], obj.dimensions[1], obj.dimensions[2]);
    }
    else
    if (obj.type == arm_navigation_msgs::Shape::CYLINDER)
    {
        if (obj.dimensions.size() != 2)
            ROS_ERROR("Unexpected number of dimensions in cylinder definition");
        else
            shape = new shapes::Cylinder(obj.dimensions[0], obj.dimensions[1]);
    }   
    else
    if (obj.type == arm_navigation_msgs::Shape::MESH)
    {
        if (obj.dimensions.size() != 0)
            ROS_ERROR("Unexpected number of dimensions in mesh definition");
        else
        {
            if (obj.triangles.size() % 3 != 0)
                ROS_ERROR("Number of triangle indices is not divisible by 3");
            else
            {
                if (obj.triangles.empty() || obj.vertices.empty())
                    ROS_ERROR("Mesh definition is empty");
                else
                {
                    std::vector<tf::Vector3>    vertices(obj.vertices.size());
                    std::vector<unsigned int> triangles(obj.triangles.size());
                    for (unsigned int i = 0 ; i < obj.vertices.size() ; ++i)
                        vertices[i].setValue(obj.vertices[i].x, obj.vertices[i].y, obj.vertices[i].z);
                    for (unsigned int i = 0 ; i < obj.triangles.size() ; ++i)
                        triangles[i] = obj.triangles[i];
                    shape = shapes::createMeshFromVertices(vertices, triangles);
                }
            }
        }
    }
    
    if (shape == NULL)
        ROS_ERROR("Unable to construct shape corresponding to object of type %d", (int)obj.type);
    
    return shape;
}


bool planning_environment::constructObjectMsg(const shapes::Shape* shape, arm_navigation_msgs::Shape &obj, double padding)
{
  obj.dimensions.clear();
  obj.vertices.clear();
  obj.triangles.clear();
  if (shape->type == shapes::SPHERE)
  {
    obj.type = arm_navigation_msgs::Shape::SPHERE;
    obj.dimensions.push_back(static_cast<const shapes::Sphere*>(shape)->radius+padding);
  }
  else
    if (shape->type == shapes::BOX)
    {
      obj.type = arm_navigation_msgs::Shape::BOX;
      const double* sz = static_cast<const shapes::Box*>(shape)->size;  
      obj.dimensions.push_back(sz[0]+padding*2.0);
      obj.dimensions.push_back(sz[1]+padding*2.0);
      obj.dimensions.push_back(sz[2]+padding*2.0);
    }
    else
      if (shape->type == shapes::CYLINDER)
      { 
        obj.type = arm_navigation_msgs::Shape::CYLINDER;
        obj.dimensions.push_back(static_cast<const shapes::Cylinder*>(shape)->radius+padding);
        obj.dimensions.push_back(static_cast<const shapes::Cylinder*>(shape)->length+padding*2.0);
      }
      else
        if (shape->type == shapes::MESH)
        {
          obj.type = arm_navigation_msgs::Shape::MESH;

          const shapes::Mesh *mesh = static_cast<const shapes::Mesh*>(shape);
          const unsigned int t3 = mesh->triangleCount * 3;

          obj.vertices.resize(mesh->vertexCount);
          obj.triangles.resize(t3);
        
          double sx = 0.0, sy = 0.0, sz = 0.0;
          for (unsigned int i = 0 ; i < mesh->vertexCount ; ++i)
          {
            unsigned int i3 = i * 3;
            obj.vertices[i].x = mesh->vertices[i3];
            obj.vertices[i].y = mesh->vertices[i3 + 1];
            obj.vertices[i].z = mesh->vertices[i3 + 2];
            sx += obj.vertices[i].x;
            sy += obj.vertices[i].y;
            sz += obj.vertices[i].z;
          }
          // the center of the mesh
          sx /= (double)mesh->vertexCount;
          sy /= (double)mesh->vertexCount;
          sz /= (double)mesh->vertexCount;

          // scale the mesh
          for (unsigned int i = 0 ; i < mesh->vertexCount ; ++i)
          {
            // vector from center to the vertex
            double dx = obj.vertices[i].x - sx;
            double dy = obj.vertices[i].y - sy;
            double dz = obj.vertices[i].z - sz;
                
            //double theta_xy = atan2(dy,dx);
            //double theta_xz = atan2(dz,dx);

            double ndx = ((dx > 0) ? dx+padding : dx-padding);
            double ndy = ((dy > 0) ? dy+padding : dy-padding);
            double ndz = ((dz > 0) ? dz+padding : dz-padding);

            obj.vertices[i].x = sx + ndx;
            obj.vertices[i].y = sy + ndy;
            obj.vertices[i].z = sz + ndz;
          }

          //for (unsigned int i = 0 ; i < mesh->vertexCount ; ++i)
          //{
          //    obj.vertices[i].x = mesh->vertices[3 * i    ];
          //    obj.vertices[i].y = mesh->vertices[3 * i + 1];
          //    obj.vertices[i].z = mesh->vertices[3 * i + 2];
          //}
        
          for (unsigned int i = 0 ; i < t3  ; ++i)
            obj.triangles[i] = mesh->triangles[i];
        }
        else
        {
          ROS_ERROR("Unable to construct object message for shape of type %d", (int)shape->type);
          return false;
        }
    
  return true;
}