body_operations.cpp
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00034 
00037 #include <geometric_shapes/body_operations.h>
00038 #include <geometric_shapes/shape_operations.h>
00039 #include <console_bridge/console.h>
00040 #include <Eigen/Geometry>
00041 
00042 bodies::Body* bodies::createBodyFromShape(const shapes::Shape *shape)
00043 {
00044   Body *body = NULL;
00045 
00046   if (shape)
00047     switch (shape->type)
00048     {
00049     case shapes::BOX:
00050       body = new bodies::Box(shape);
00051       break;
00052     case shapes::SPHERE:
00053       body = new bodies::Sphere(shape);
00054       break;
00055     case shapes::CYLINDER:
00056       body = new bodies::Cylinder(shape);
00057       break;
00058     case shapes::MESH:
00059       body = new bodies::ConvexMesh(shape);
00060       break;
00061     default:
00062       logError("Creating body from shape: Unknown shape type %d", (int)shape->type);
00063       break;
00064     }
00065 
00066   return body;
00067 }
00068 
00069 void bodies::mergeBoundingSpheres(const std::vector<BoundingSphere> &spheres, BoundingSphere &mergedSphere)
00070 {
00071   if (spheres.empty())
00072   {
00073     mergedSphere.center = Eigen::Vector3d(0.0, 0.0, 0.0);
00074     mergedSphere.radius = 0.0;
00075   }
00076   else
00077   {
00078     mergedSphere = spheres[0];
00079     for (unsigned int i = 1 ; i < spheres.size() ; ++i)
00080     {
00081       if (spheres[i].radius <= 0.0)
00082         continue;
00083       Eigen::Vector3d diff = spheres[i].center-mergedSphere.center;
00084       double d = diff.norm();
00085       if (d + mergedSphere.radius <= spheres[i].radius)
00086       {
00087         mergedSphere.center = spheres[i].center;
00088         mergedSphere.radius = spheres[i].radius;
00089       }
00090       else if (d + spheres[i].radius > mergedSphere.radius)
00091       {
00092         Eigen::Vector3d delta = mergedSphere.center - spheres[i].center;
00093         mergedSphere.radius = (delta.norm() + spheres[i].radius + mergedSphere.radius)/2.0;
00094         mergedSphere.center = delta.normalized() * (mergedSphere.radius - spheres[i].radius) + spheres[i].center;
00095       }
00096     }
00097   }
00098 }
00099 
00100 namespace bodies
00101 {
00102 template<typename T>
00103 Body* constructBodyFromMsgHelper(const T &shape_msg, const geometry_msgs::Pose &pose)
00104 {
00105   shapes::Shape *shape = shapes::constructShapeFromMsg(shape_msg);
00106 
00107   if (shape)
00108   {
00109     Body *body = createBodyFromShape(shape);
00110     if (body)
00111     {
00112       Eigen::Quaterniond q(pose.orientation.w, pose.orientation.x, pose.orientation.y, pose.orientation.z);
00113       if (fabs(q.squaredNorm() - 1.0) > 1e-3)
00114       {
00115         logError("Quaternion is not normalized. Assuming identity.");
00116         q = Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0);
00117       }
00118       Eigen::Affine3d af(Eigen::Translation3d(pose.position.x, pose.position.y, pose.position.z) * q.toRotationMatrix());
00119       body->setPose(af);
00120       return body;
00121     }
00122   }
00123   return NULL;
00124 }
00125 }
00126 
00127 bodies::Body* bodies::constructBodyFromMsg(const shapes::ShapeMsg &shape_msg, const geometry_msgs::Pose &pose)
00128 {
00129   return constructBodyFromMsgHelper(shape_msg, pose);
00130 }
00131 
00132 bodies::Body* bodies::constructBodyFromMsg(const shape_msgs::Mesh &shape_msg, const geometry_msgs::Pose &pose)
00133 {
00134   return constructBodyFromMsgHelper(shape_msg, pose);
00135 }
00136 
00137 bodies::Body* bodies::constructBodyFromMsg(const shape_msgs::SolidPrimitive &shape_msg, const geometry_msgs::Pose &pose)
00138 {
00139   return constructBodyFromMsgHelper(shape_msg, pose);
00140 }
00141 
00142 void bodies::computeBoundingSphere(const std::vector<const bodies::Body*>& bodies, bodies::BoundingSphere& sphere) {
00143   Eigen::Vector3d sum(0.0,0.0,0.0);
00144 
00145   //TODO - expand to all body types
00146   unsigned int vertex_count = 0;
00147   for(unsigned int i = 0; i < bodies.size(); i++) {
00148     const bodies::ConvexMesh* conv = dynamic_cast<const bodies::ConvexMesh*>(bodies[i]);
00149     if(!conv) continue;
00150     for(unsigned int j = 0; j < conv->getScaledVertices().size(); j++, vertex_count++) {
00151       sum += conv->getPose()*conv->getScaledVertices()[j];
00152     }
00153   }
00154 
00155   sphere.center=sum/(double)vertex_count;
00156 
00157   double max_dist_squared = 0.0;
00158   for(unsigned int i = 0; i < bodies.size(); i++) {
00159     const bodies::ConvexMesh* conv = dynamic_cast<const bodies::ConvexMesh*>(bodies[i]);
00160     if(!conv) continue;
00161     for(unsigned int j = 0; j < conv->getScaledVertices().size(); j++) {
00162       double dist = (conv->getPose()*conv->getScaledVertices()[j]-sphere.center).squaredNorm();
00163       if(dist > max_dist_squared) {
00164         max_dist_squared = dist;
00165       }
00166     }
00167   }
00168   sphere.radius = sqrt(max_dist_squared);
00169 }


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Fri Dec 1 2017 03:33:44