#include "geometric_shapes/shapes.h"
#include "geometric_shapes/bodies.h"
#include "geometric_shapes/shape_messages.h"
#include <geometry_msgs/Pose.h>
#include <vector>
Go to the source code of this file.
Namespaces | |
namespace | 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. | |
Body * | bodies::constructBodyFromMsg (const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose) |
Create a body from a given shape. | |
Body * | bodies::constructBodyFromMsg (const shape_msgs::SolidPrimitive &shape, const geometry_msgs::Pose &pose) |
Create a body from a given shape. | |
Body * | bodies::constructBodyFromMsg (const shapes::ShapeMsg &shape, const geometry_msgs::Pose &pose) |
Create a body from a given shape. | |
Body * | bodies::createBodyFromShape (const shapes::Shape *shape) |
Create a body from a given shape. | |
void | bodies::mergeBoundingSpheres (const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere) |
Compute a bounding sphere to enclose a set of bounding spheres. |