shape_tools.h

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#ifndef _SHAPE_TOOLS_H_
#define _SHAPE_TOOLS_H_

#include <ros/ros.h>
#include <tf/tf.h>

#include "object_manipulator/tools/msg_helpers.h"


namespace object_manipulator
{

namespace shapes
{

  class Box
  {
    public:
      Box(){   }

      Box(const tf::Pose &frame_in, const tf::Vector3 &dims_in) : frame(frame_in), dims(dims_in) {}

      Box(const tf::Vector3 &dims_in) : frame(tf::Pose(tf::Quaternion(0,0,0,1), tf::Vector3(0,0,0))), dims(dims_in) {}

      inline void transform(const tf::Transform &T)   { frame = T * frame;  }

      std_msgs::Header header;
      tf::Pose frame;
      tf::Vector3 dims;
  };

  class Cylinder
  {
    public:
      Cylinder(){   }

      Cylinder(const tf::Pose &frame_in, const tf::Vector3 &dims_in) : frame(frame_in), dims(dims_in) {}

      Cylinder(const tf::Vector3 &dims_in) : frame(tf::Pose(tf::Quaternion(0,0,0,1), tf::Vector3(0,0,0))), dims(dims_in) {}

      inline void transform(const tf::Transform &T)   { frame = T * frame;  }

      std_msgs::Header header;
      tf::Pose frame;
      tf::Vector3 dims;
  };

  class Sphere
  {
  public:
      Sphere(){   }

      Sphere(const tf::Pose &frame_in, const tf::Vector3 &dims_in) : frame(frame_in), dims(dims_in) {}

      Sphere(const tf::Vector3 &dims_in) : frame(tf::Pose(tf::Quaternion(0,0,0,1), tf::Vector3(0,0,0))), dims(dims_in) {}

      inline void transform(const tf::Transform &T)   { frame = T * frame;  }

      std_msgs::Header header;
      tf::Pose frame;
      tf::Vector3 dims;
  };

  class Mesh
  {
  public:
      Mesh(){   }

      Mesh(const char * mesh_source, const tf::Pose &frame_in, const tf::Vector3 &dims_in) : mesh_resource(mesh_source), frame(frame_in), dims(dims_in) {}

      Mesh(const char * mesh_source, const tf::Vector3 &dims_in) : mesh_resource(mesh_source), frame(tf::Pose(tf::Quaternion(0,0,0,1), tf::Vector3(0,0,0))), dims(dims_in) {}

      inline void transform(const tf::Transform &T)   { frame = T * frame;  }

      std_msgs::Header header;
      std::string mesh_resource;
      bool use_embedded_materials;
      tf::Pose frame;
      tf::Vector3 dims;

  };

} // namespace shapes


void drawCylinder(ros::Publisher &pub, const shapes::Cylinder &shape, const char *ns = "cylinder",
             int id = 0, const ros::Duration lifetime = ros::Duration(),
             const std_msgs::ColorRGBA color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
             bool destroy = false, bool frame_locked = false);

void drawBox(ros::Publisher &pub, const shapes::Box &shape, const char *ns = "box",
             int id = 0, const ros::Duration lifetime = ros::Duration(),
             const std_msgs::ColorRGBA color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
             bool destroy = false, bool frame_locked = false);

void drawSphere(ros::Publisher &pub, const shapes::Sphere &shape, const char *ns = "sphere",
             int id = 0, const ros::Duration lifetime = ros::Duration(),
             const std_msgs::ColorRGBA color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
             bool destroy = false, bool frame_locked = false);

void drawMesh (ros::Publisher &pub, const shapes::Mesh &shape, const char *ns = "mesh",
               int id = 0, const ros::Duration lifetime = ros::Duration(),
               const std_msgs::ColorRGBA color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
               bool destroy = false, bool frame_locked = false);

} // namespace object_manipulator

#endif