body_operations.h
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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


geometric_shapes
Author(s): Ioan Sucan
autogenerated on Wed Aug 26 2015 11:40:00