shape_operations.h

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/* Author: Ioan Sucan */

#ifndef GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
#define GEOMETRIC_SHAPES_SHAPE_OPERATIONS_

#include "geometric_shapes/shapes.h"
#include "geometric_shapes/shape_messages.h"
#include "geometric_shapes/mesh_operations.h"
#include <visualization_msgs/Marker.h>
#include <iostream>

namespace shapes
{

Shape* constructShapeFromMsg(const shape_msgs::SolidPrimitive &shape_msg);

Shape* constructShapeFromMsg(const shape_msgs::Plane &shape_msg);

Shape* constructShapeFromMsg(const shape_msgs::Mesh &shape_msg);

Shape* constructShapeFromMsg(const ShapeMsg &shape_msg);

bool constructMsgFromShape(const Shape* shape, ShapeMsg &shape_msg);

bool constructMarkerFromShape(const Shape* shape, visualization_msgs::Marker &mk, bool use_mesh_triangle_list = false);

Eigen::Vector3d computeShapeExtents(const ShapeMsg &shape_msg);

Eigen::Vector3d computeShapeExtents(const Shape *shape);

void computeShapeBoundingSphere(const Shape *shape, Eigen::Vector3d& center, double& radius);

const std::string& shapeStringName(const Shape *shape);

void saveAsText(const Shape *shape, std::ostream &out);

Shape* constructShapeFromText(std::istream &in);

}

#endif