shape_operations.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
38 #define GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
39 
43 #include <visualization_msgs/Marker.h>
44 #include <iostream>
45 
46 namespace shapes
47 {
48 
50 Shape* constructShapeFromMsg(const shape_msgs::SolidPrimitive &shape_msg);
51 
53 Shape* constructShapeFromMsg(const shape_msgs::Plane &shape_msg);
54 
56 Shape* constructShapeFromMsg(const shape_msgs::Mesh &shape_msg);
57 
59 Shape* constructShapeFromMsg(const ShapeMsg &shape_msg);
60 
62 bool constructMsgFromShape(const Shape* shape, ShapeMsg &shape_msg);
63 
65 bool constructMarkerFromShape(const Shape* shape, visualization_msgs::Marker &mk, bool use_mesh_triangle_list = false);
66 
68 Eigen::Vector3d computeShapeExtents(const ShapeMsg &shape_msg);
69 
71 Eigen::Vector3d computeShapeExtents(const Shape *shape);
72 
74 void computeShapeBoundingSphere(const Shape *shape, Eigen::Vector3d& center, double& radius);
75 
77 const std::string& shapeStringName(const Shape *shape);
78 
80 void saveAsText(const Shape *shape, std::ostream &out);
81 
83 Shape* constructShapeFromText(std::istream &in);
84 
85 }
86 
87 #endif
Definition of various shapes. No properties such as position are included. These are simply the descr...
void saveAsText(const Shape *shape, std::ostream &out)
Save all the information about this shape as plain text.
bool constructMarkerFromShape(const Shape *shape, visualization_msgs::Marker &mk, bool use_mesh_triangle_list=false)
Construct the marker that corresponds to the shape. Return false on failure.
Shape * constructShapeFromMsg(const shape_msgs::SolidPrimitive &shape_msg)
Construct the shape that corresponds to the message. Return NULL on failure.
const std::string & shapeStringName(const Shape *shape)
Get the string name of the shape.
void computeShapeBoundingSphere(const Shape *shape, Eigen::Vector3d &center, double &radius)
Compute a sphere bounding a shape.
bool constructMsgFromShape(const Shape *shape, ShapeMsg &shape_msg)
Construct the message that corresponds to the shape. Return false on failure.
Shape * constructShapeFromText(std::istream &in)
Construct a shape from plain text description.
Eigen::Vector3d computeShapeExtents(const ShapeMsg &shape_msg)
Compute the extents of a shape.
boost::variant< shape_msgs::SolidPrimitive, shape_msgs::Mesh, shape_msgs::Plane > ShapeMsg
Type that can hold any of the desired shape message types.


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Wed Jan 17 2018 03:52:51