body_operations.h
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34 
35 /* Author: Ioan Sucan, E. Gil Jones */
36 
37 #ifndef GEOMETRIC_SHAPES_BODY_OPERATIONS_
38 #define GEOMETRIC_SHAPES_BODY_OPERATIONS_
39 
43 #include <geometry_msgs/Pose.h>
44 #include <vector>
45 
46 namespace bodies
47 {
49 Body* createBodyFromShape(const shapes::Shape* shape);
50 
52 Body* constructBodyFromMsg(const shape_msgs::Mesh& shape, const geometry_msgs::Pose& pose);
53 
55 Body* constructBodyFromMsg(const shape_msgs::SolidPrimitive& shape, const geometry_msgs::Pose& pose);
56 
58 Body* constructBodyFromMsg(const shapes::ShapeMsg& shape, const geometry_msgs::Pose& pose);
59 
61 void mergeBoundingSpheres(const std::vector<BoundingSphere>& spheres, BoundingSphere& mergedSphere);
62 
64 void mergeBoundingBoxes(const std::vector<AABB>& boxes, AABB& mergedBox);
65 
67 void computeBoundingSphere(const std::vector<const Body*>& bodies, BoundingSphere& mergedSphere);
68 }
69 #endif
void 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 * constructBodyFromMsg(const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose)
Create a body from a given shape.
void mergeBoundingSpheres(const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere)
Compute a bounding sphere to enclose a set of bounding spheres.
A basic definition of a shape. Shapes are considered centered at origin.
Definition: shapes.h:77
Body * createBodyFromShape(const shapes::Shape *shape)
Create a body from a given shape.
void mergeBoundingBoxes(const std::vector< AABB > &boxes, AABB &mergedBox)
Compute an axis-aligned bounding box to enclose a set of bounding boxes.
boost::variant< shape_msgs::SolidPrimitive, shape_msgs::Mesh, shape_msgs::Plane > ShapeMsg
Type that can hold any of the desired shape message types.
This set of classes allows quickly detecting whether a given point is inside an object or not...
Definition: aabb.h:42


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Wed Nov 20 2019 03:16:42