shapes Namespace Reference

Definition of various shapes. No properties such as position are included. These are simply the descriptions and dimensions of shapes. More...

detail

## Classes

class  Box
Definition of a box Aligned with the XYZ axes. More...

class  Cone
Definition of a cone Tip is on positive z axis. Center of base is on negative z axis. Origin is halway between tip and center of base. More...

class  Cylinder
Definition of a cylinder Length is along z axis. Origin is at center of mass. More...

class  Mesh
Definition of a triangle mesh By convention the "center" of the shape is at the origin. For a mesh this implies that the AABB of the mesh is centered at the origin. Some methods may not work with arbitrary meshes whose AABB is not centered at the origin. More...

class  OcTree
Representation of an octomap::OcTree as a Shape. More...

class  Plane
Definition of a plane with equation ax + by + cz + d = 0. More...

class  Shape
A basic definition of a shape. Shapes are considered centered at origin. More...

class  Sphere
Definition of a sphere. More...

## Typedefs

typedef std::shared_ptr< const ShapeShapeConstPtr
Shared pointer to a const Shape. More...

typedef boost::variant< shape_msgs::SolidPrimitive, shape_msgs::Mesh, shape_msgs::Plane > ShapeMsg
Type that can hold any of the desired shape message types. More...

typedef std::shared_ptr< ShapeShapePtr
Shared pointer to a Shape. More...

## Enumerations

enum  ShapeType {
UNKNOWN_SHAPE, SPHERE, CYLINDER, CONE,
BOX, PLANE, MESH, OCTREE
}
A list of known shape types. More...

## Functions

void computeShapeBoundingSphere (const Shape *shape, Eigen::Vector3d &center, double &radius)
Compute a sphere bounding a shape. More...

Eigen::Vector3d computeShapeExtents (const ShapeMsg &shape_msg)
Compute the extents of a shape. More...

Eigen::Vector3d computeShapeExtents (const Shape *shape)
Compute the extents of a shape. More...

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. More...

bool constructMsgFromShape (const Shape *shape, ShapeMsg &shape_msg)
Construct the message that corresponds to the shape. Return false on failure. More...

ShapeconstructShapeFromMsg (const shape_msgs::SolidPrimitive &shape_msg)
Construct the shape that corresponds to the message. Return NULL on failure. More...

ShapeconstructShapeFromMsg (const shape_msgs::Plane &shape_msg)
Construct the shape that corresponds to the message. Return NULL on failure. More...

ShapeconstructShapeFromMsg (const shape_msgs::Mesh &shape_msg)
Construct the shape that corresponds to the message. Return NULL on failure. More...

ShapeconstructShapeFromMsg (const ShapeMsg &shape_msg)
Construct the shape that corresponds to the message. Return NULL on failure. More...

ShapeconstructShapeFromText (std::istream &in)
Construct a shape from plain text description. More...

MeshcreateMeshFromAsset (const aiScene *scene, const Eigen::Vector3d &scale, const std::string &assimp_hint=std::string())
Load a mesh from an assimp datastructure. More...

MeshcreateMeshFromAsset (const aiScene *scene, const std::string &assimp_hint=std::string())
Load a mesh from an assimp datastructure. More...

MeshcreateMeshFromBinary (const char *buffer, std::size_t size, const std::string &assimp_hint=std::string())
Load a mesh from a binary stream that contains a mesh that can be loaded by assimp. More...

MeshcreateMeshFromBinary (const char *buffer, std::size_t size, const Eigen::Vector3d &scale, const std::string &assimp_hint=std::string())
Load a mesh from a resource that contains a mesh that can be loaded by assimp. More...

MeshcreateMeshFromResource (const std::string &resource)
Load a mesh from a resource that contains a mesh that can be loaded by assimp. More...

MeshcreateMeshFromResource (const std::string &resource, const Eigen::Vector3d &scale)
Load a mesh from a resource that contains a mesh that can be loaded by assimp. More...

MeshcreateMeshFromShape (const Shape *shape)
Construct a mesh from a primitive shape that is NOT already a mesh. This call allocates a new object. More...

MeshcreateMeshFromShape (const Box &box)
Construct a mesh from a box. More...

MeshcreateMeshFromShape (const Sphere &sphere)
Construct a mesh from a sphere. More...

MeshcreateMeshFromShape (const Cylinder &cylinder)
Construct a mesh from a cylinder. More...

MeshcreateMeshFromShape (const Cone &cone)
Construct a mesh from a cone. More...

MeshcreateMeshFromVertices (const EigenSTL::vector_Vector3d &vertices, const std::vector< unsigned int > &triangles)
Load a mesh from a set of vertices. More...

MeshcreateMeshFromVertices (const EigenSTL::vector_Vector3d &source)
Load a mesh from a set of vertices. More...

std::ostream & operator<< (std::ostream &ss, ShapeType type)

void saveAsText (const Shape *shape, std::ostream &out)

const std::string & shapeStringName (const Shape *shape)
Get the string name of the shape. More...

void writeSTLBinary (const Mesh *mesh, std::vector< char > &buffer)
Write the mesh to a buffer in STL format. More...

## Detailed Description

Definition of various shapes. No properties such as position are included. These are simply the descriptions and dimensions of shapes.

## ◆ ShapeConstPtr

 typedef std::shared_ptr shapes::ShapeConstPtr

Shared pointer to a const Shape.

Definition at line 285 of file shapes.h.

## ◆ ShapeMsg

 typedef boost::variant shapes::ShapeMsg

Type that can hold any of the desired shape message types.

Definition at line 52 of file shape_messages.h.

## ◆ ShapePtr

 typedef std::shared_ptr shapes::ShapePtr

Shared pointer to a Shape.

Definition at line 282 of file shapes.h.

## ◆ ShapeType

 enum shapes::ShapeType

A list of known shape types.

Enumerator
UNKNOWN_SHAPE
SPHERE
CYLINDER
CONE
BOX
PLANE
MESH
OCTREE

Definition at line 61 of file shapes.h.

## ◆ computeShapeBoundingSphere()

 void shapes::computeShapeBoundingSphere ( const Shape * shape, Eigen::Vector3d & center, double & radius )

Compute a sphere bounding a shape.

Definition at line 284 of file shape_operations.cpp.

## ◆ computeShapeExtents() [1/2]

 Eigen::Vector3d shapes::computeShapeExtents ( const ShapeMsg & shape_msg )

Compute the extents of a shape.

Definition at line 229 of file shape_operations.cpp.

## ◆ computeShapeExtents() [2/2]

 Eigen::Vector3d shapes::computeShapeExtents ( const Shape * shape )

Compute the extents of a shape.

Definition at line 234 of file shape_operations.cpp.

## ◆ constructMarkerFromShape()

 bool shapes::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.

Definition at line 179 of file shape_operations.cpp.

## ◆ constructMsgFromShape()

 bool shapes::constructMsgFromShape ( const Shape * shape, ShapeMsg & shape_msg )

Construct the message that corresponds to the shape. Return false on failure.

Definition at line 350 of file shape_operations.cpp.

## ◆ constructShapeFromMsg() [1/4]

 Shape * shapes::constructShapeFromMsg ( const shape_msgs::SolidPrimitive & shape_msg )

Construct the shape that corresponds to the message. Return NULL on failure.

Definition at line 84 of file shape_operations.cpp.

## ◆ constructShapeFromMsg() [2/4]

 Shape * shapes::constructShapeFromMsg ( const shape_msgs::Plane & shape_msg )

Construct the shape that corresponds to the message. Return NULL on failure.

Definition at line 55 of file shape_operations.cpp.

## ◆ constructShapeFromMsg() [3/4]

 Shape * shapes::constructShapeFromMsg ( const shape_msgs::Mesh & shape_msg )

Construct the shape that corresponds to the message. Return NULL on failure.

Definition at line 60 of file shape_operations.cpp.

## ◆ constructShapeFromMsg() [4/4]

 Shape * shapes::constructShapeFromMsg ( const ShapeMsg & shape_msg )

Construct the shape that corresponds to the message. Return NULL on failure.

Definition at line 143 of file shape_operations.cpp.

## ◆ constructShapeFromText()

 Shape * shapes::constructShapeFromText ( std::istream & in )

Construct a shape from plain text description.

Definition at line 486 of file shape_operations.cpp.

## ◆ createMeshFromAsset() [1/2]

 Mesh * shapes::createMeshFromAsset ( const aiScene * scene, const Eigen::Vector3d & scale, const std::string & assimp_hint = `std::string()` )

Load a mesh from an assimp datastructure.

Definition at line 334 of file mesh_operations.cpp.

## ◆ createMeshFromAsset() [2/2]

 Mesh * shapes::createMeshFromAsset ( const aiScene * scene, const std::string & assimp_hint = `std::string()` )

Load a mesh from an assimp datastructure.

Definition at line 328 of file mesh_operations.cpp.

## ◆ createMeshFromBinary() [1/2]

 Mesh * shapes::createMeshFromBinary ( const char * buffer, std::size_t size, const std::string & assimp_hint = `std::string()` )

Load a mesh from a binary stream that contains a mesh that can be loaded by assimp.

Definition at line 208 of file mesh_operations.cpp.

## ◆ createMeshFromBinary() [2/2]

 Mesh * shapes::createMeshFromBinary ( const char * buffer, std::size_t size, const Eigen::Vector3d & scale, const std::string & assimp_hint = `std::string()` )

Load a mesh from a resource that contains a mesh that can be loaded by assimp.

Definition at line 214 of file mesh_operations.cpp.

## ◆ createMeshFromResource() [1/2]

 Mesh * shapes::createMeshFromResource ( const std::string & resource )

Load a mesh from a resource that contains a mesh that can be loaded by assimp.

Definition at line 202 of file mesh_operations.cpp.

## ◆ createMeshFromResource() [2/2]

 Mesh * shapes::createMeshFromResource ( const std::string & resource, const Eigen::Vector3d & scale )

Load a mesh from a resource that contains a mesh that can be loaded by assimp.

Definition at line 267 of file mesh_operations.cpp.

## ◆ createMeshFromShape() [1/5]

 Mesh * shapes::createMeshFromShape ( const Shape * shape )

Construct a mesh from a primitive shape that is NOT already a mesh. This call allocates a new object.

Definition at line 358 of file mesh_operations.cpp.

## ◆ createMeshFromShape() [2/5]

 Mesh * shapes::createMeshFromShape ( const Box & box )

Construct a mesh from a box.

Definition at line 373 of file mesh_operations.cpp.

## ◆ createMeshFromShape() [3/5]

 Mesh * shapes::createMeshFromShape ( const Sphere & sphere )

Construct a mesh from a sphere.

Definition at line 421 of file mesh_operations.cpp.

## ◆ createMeshFromShape() [4/5]

 Mesh * shapes::createMeshFromShape ( const Cylinder & cylinder )

Construct a mesh from a cylinder.

Definition at line 490 of file mesh_operations.cpp.

## ◆ createMeshFromShape() [5/5]

 Mesh * shapes::createMeshFromShape ( const Cone & cone )

Construct a mesh from a cone.

Definition at line 561 of file mesh_operations.cpp.

## ◆ createMeshFromVertices() [1/2]

 Mesh * shapes::createMeshFromVertices ( const EigenSTL::vector_Vector3d & vertices, const std::vector< unsigned int > & triangles )

Load a mesh from a set of vertices.

Triangles are constructed using index values from the triangles vector. Triangle k has vertices at index values triangles[3k], triangles[3k+1], triangles[3k+2]

Definition at line 108 of file mesh_operations.cpp.

## ◆ createMeshFromVertices() [2/2]

 Mesh * shapes::createMeshFromVertices ( const EigenSTL::vector_Vector3d & source )

Load a mesh from a set of vertices.

Every 3 vertices are considered a triangle. Repeating vertices are identified and the set of triangle indices is constructed. The normal at each triangle is also computed

Definition at line 126 of file mesh_operations.cpp.

## ◆ operator<<()

 std::ostream & shapes::operator<< ( std::ostream & ss, ShapeType type )

Definition at line 52 of file shapes.cpp.

## ◆ saveAsText()

 void shapes::saveAsText ( const Shape * shape, std::ostream & out )

Definition at line 432 of file shape_operations.cpp.

## ◆ shapeStringName()

 const std::string & shapes::shapeStringName ( const Shape * shape )

Get the string name of the shape.

Definition at line 551 of file shape_operations.cpp.

## ◆ writeSTLBinary()

 void shapes::writeSTLBinary ( const Mesh * mesh, std::vector< char > & buffer )

Write the mesh to a buffer in STL format.

Definition at line 646 of file mesh_operations.cpp.

geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Fri Apr 5 2019 02:16:43