solid_primitive_dims.h

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#ifndef GEOMETRIC_SHAPES_SOLID_PRIMITIVE_DIMS_
#define GEOMETRIC_SHAPES_SOLID_PRIMITIVE_DIMS_

#include <shape_msgs/SolidPrimitive.h>

namespace geometric_shapes
{
template <int>
struct SolidPrimitiveDimCount
{
  enum
  {
    value = 0
  };
};

template <>
struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE>
{
  enum
  {
    value = static_cast<int>(shape_msgs::SolidPrimitive::SPHERE_RADIUS) + 1
  };
};

template <>
struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::BOX>
{
  enum
  {
    value =
        (static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) &&
         static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z)) ?
            static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) :
            (((static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) >=
                   static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) &&
               static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) >=
                   static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z))) ?
                 static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) :
                 ((static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) >=
                       static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) &&
                   static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) >=
                       static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y)) ?
                      static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) :
                      0)) +
                1
  };
};

template <>
struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CONE>
{
  enum
  {
    value = (static_cast<int>(shape_msgs::SolidPrimitive::CONE_RADIUS) >=
                     static_cast<int>(shape_msgs::SolidPrimitive::CONE_HEIGHT) ?
                 static_cast<int>(shape_msgs::SolidPrimitive::CONE_RADIUS) :
                 static_cast<int>(shape_msgs::SolidPrimitive::CONE_HEIGHT)) +
            1
  };
};

template <>
struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CYLINDER>
{
  enum
  {
    value = (static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_RADIUS) >=
                     static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_HEIGHT) ?
                 static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_RADIUS) :
                 static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_HEIGHT)) +
            1
  };
};
}

#endif