00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan, E. Gil Jones */ 00036 00037 #ifndef GEOMETRIC_SHAPES_BODY_OPERATIONS_ 00038 #define GEOMETRIC_SHAPES_BODY_OPERATIONS_ 00039 00040 #include "geometric_shapes/shapes.h" 00041 #include "geometric_shapes/bodies.h" 00042 #include "geometric_shapes/shape_messages.h" 00043 #include <geometry_msgs/Pose.h> 00044 #include <vector> 00045 00046 namespace bodies 00047 { 00048 00050 Body* createBodyFromShape(const shapes::Shape *shape); 00051 00053 Body* constructBodyFromMsg(const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose); 00054 00056 Body* constructBodyFromMsg(const shape_msgs::SolidPrimitive &shape, const geometry_msgs::Pose &pose); 00057 00059 Body* constructBodyFromMsg(const shapes::ShapeMsg &shape, const geometry_msgs::Pose &pose); 00060 00062 void mergeBoundingSpheres(const std::vector<BoundingSphere> &spheres, BoundingSphere &mergedSphere); 00063 00065 void computeBoundingSphere(const std::vector<const Body*>& bodies, BoundingSphere &mergedSphere); 00066 00067 } 00068 #endif