shapes Namespace Reference

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

## Namespaces | |

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 Shape > | ShapeConstPtr |

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< Shape > | ShapePtr |

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 ¢er, 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... | |

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

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

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

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

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

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

Shape * | constructShapeFromMsg (const ShapeMsg &shape_msg) |

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

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

Construct a shape from plain text description. More... | |

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

Load a mesh from an assimp datastructure. More... | |

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

Load a mesh from an assimp datastructure. More... | |

Mesh * | 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. More... | |

Mesh * | 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. More... | |

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

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

Mesh * | 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. More... | |

Mesh * | createMeshFromShape (const Shape *shape) |

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

Mesh * | createMeshFromShape (const Box &box) |

Construct a mesh from a box. More... | |

Mesh * | createMeshFromShape (const Sphere &sphere) |

Construct a mesh from a sphere. More... | |

Mesh * | createMeshFromShape (const Cylinder &cylinder) |

Construct a mesh from a cylinder. More... | |

Mesh * | createMeshFromShape (const Cone &cone) |

Construct a mesh from a cone. More... | |

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

Load a mesh from a set of vertices. More... | |

Mesh * | createMeshFromVertices (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) |

Save all the information about this shape as plain text. More... | |

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... | |

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

typedef std::shared_ptr<const Shape> shapes::ShapeConstPtr |

typedef boost::variant<shape_msgs::SolidPrimitive, shape_msgs::Mesh, shape_msgs::Plane> shapes::ShapeMsg |

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

Definition at line 52 of file shape_messages.h.

typedef std::shared_ptr<Shape> shapes::ShapePtr |

enum shapes::ShapeType |

void shapes::computeShapeBoundingSphere | ( | const Shape * | shape, |

Eigen::Vector3d & | center, |
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double & | radius |
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) |

Compute a sphere bounding a shape.

Definition at line 284 of file shape_operations.cpp.

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

Compute the extents of a shape.

Definition at line 229 of file shape_operations.cpp.

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

Compute the extents of a shape.

Definition at line 234 of file shape_operations.cpp.

bool shapes::constructMarkerFromShape | ( | const Shape * | shape, |

visualization_msgs::Marker & | mk, |
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bool | use_mesh_triangle_list = `false` |
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) |

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

Definition at line 179 of file shape_operations.cpp.

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

Definition at line 350 of file shape_operations.cpp.

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.

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.

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.

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

Definition at line 143 of file shape_operations.cpp.

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

Construct a shape from plain text description.

Definition at line 486 of file shape_operations.cpp.

Mesh * shapes::createMeshFromAsset | ( | const aiScene * | scene, |

const Eigen::Vector3d & | scale, |
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const std::string & | assimp_hint = `std::string()` |
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) |

Load a mesh from an assimp datastructure.

Definition at line 334 of file mesh_operations.cpp.

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.

Mesh * shapes::createMeshFromBinary | ( | const char * | buffer, |

std::size_t | size, |
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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.

Mesh * shapes::createMeshFromBinary | ( | const char * | buffer, |

std::size_t | size, |
||

const Eigen::Vector3d & | scale, |
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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.

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.

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.

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.

Construct a mesh from a box.

Definition at line 373 of file mesh_operations.cpp.

Construct a mesh from a sphere.

Definition at line 421 of file mesh_operations.cpp.

Construct a mesh from a cylinder.

Definition at line 490 of file mesh_operations.cpp.

Construct a mesh from a cone.

Definition at line 561 of file mesh_operations.cpp.

Mesh * shapes::createMeshFromVertices | ( | const EigenSTL::vector_Vector3d & | vertices, |

const std::vector< unsigned int > & | triangles |
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) |

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.

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.

std::ostream & shapes::operator<< | ( | std::ostream & | ss, |

ShapeType | type |
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) |

Definition at line 52 of file shapes.cpp.

void shapes::saveAsText | ( | const Shape * | shape, |

std::ostream & | out |
||

) |

Save all the information about this shape as plain text.

Definition at line 432 of file shape_operations.cpp.

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

Get the string name of the shape.

Definition at line 551 of file shape_operations.cpp.

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.