18 #ifndef FCL_MARKER_CONVERTER_HPP_ 19 #define FCL_MARKER_CONVERTER_HPP_ 21 #include <boost/scoped_ptr.hpp> 22 #include <fcl/shape/geometric_shapes.h> 23 #include <fcl/BVH/BVH_model.h> 24 #include <fcl/shape/geometric_shape_to_BVH_model.h> 35 #define SEG_CIRCLE 10u 48 typedef boost::scoped_ptr<fcl::Box>
sPtrBox;
59 marker.scale.x = this->geo_shape_.side[0];
60 marker.scale.y = this->geo_shape_.side[1];
61 marker.scale.z = this->geo_shape_.side[2];
62 marker.type = visualization_msgs::Marker::CUBE;
72 const fcl::Transform3f x;
73 fcl::generateBVHModel(bvh, geo_shape_, x);
91 marker.scale.x = this->geo_shape_.radius * 2.0;
92 marker.scale.y = this->geo_shape_.radius * 2.0;
93 marker.scale.z = this->geo_shape_.radius * 2.0;
94 marker.type = visualization_msgs::Marker::SPHERE;
110 const fcl::Transform3f x;
129 marker.scale.x = this->geo_shape_.radius * 2.0;
130 marker.scale.y = this->geo_shape_.radius * 2.0;
131 marker.scale.z = this->geo_shape_.lz;
132 marker.type = visualization_msgs::Marker::CYLINDER;
142 const fcl::Transform3f x;
FclMarkerConverter(fcl::Cylinder &cyl)
FclMarkerConverter(fcl::Sphere &sphere)
boost::scoped_ptr< fcl::Box > sPtrBox
FclMarkerConverter(fcl::Box &box)
void getBvhModel(BVH_RSS_t &bvh) const
void getBvhModel(BVH_RSS_t &bvh) const
fcl::Sphere getGeoShape() const
fcl::BVHModel< fcl::RSS > BVH_RSS_t
void getBvhModel(BVH_RSS_t &bvh) const
void assignValues(visualization_msgs::Marker &marker)
fcl::Box getGeoShape() const
void assignValues(visualization_msgs::Marker &marker)
fcl::Cylinder getGeoShape() const
boost::scoped_ptr< fcl::Sphere > sPtrSphere
boost::scoped_ptr< fcl::Cylinder > sPtrCylinder
void assignValues(visualization_msgs::Marker &marker)