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 | |

namespace | 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 boost::shared_ptr < const Shape > | ShapeConstPtr |

Shared pointer to a const Shape. | |

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

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

typedef boost::shared_ptr< Shape > | ShapePtr |

Shared pointer to a Shape. | |

## 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. | |

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

Compute the extents of a shape. | |

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

Compute the extents of a shape. | |

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. | |

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

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

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

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

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

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

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

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

Shape * | constructShapeFromMsg (const ShapeMsg &shape_msg) |

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

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

Construct a shape from plain text description. | |

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

Load a mesh from an assimp datastructure. | |

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

Load a mesh from an assimp datastructure. | |

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. | |

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. | |

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

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

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. | |

Mesh * | createMeshFromShape (const Shape *shape) |

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

Mesh * | createMeshFromShape (const Box &box) |

Construct a mesh from a box. | |

Mesh * | createMeshFromShape (const Sphere &sphere) |

Construct a mesh from a sphere. | |

Mesh * | createMeshFromShape (const Cylinder &cylinder) |

Construct a mesh from a cylinder. | |

Mesh * | createMeshFromShape (const Cone &cone) |

Construct a mesh from a cone. | |

Mesh * | 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]. | |

Mesh * | 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. | |

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

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

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

Get the string name of the shape. | |

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

Write the mesh to a buffer in STL format. |

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

typedef boost::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 49 of file shape_messages.h.

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

enum shapes::ShapeType |

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

Eigen::Vector3d & | center, |
||

double & | radius |
||

) |

Compute a sphere bounding a shape.

Definition at line 304 of file shape_operations.cpp.

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

Compute the extents of a shape.

Definition at line 245 of file shape_operations.cpp.

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

Compute the extents of a shape.

Definition at line 250 of file shape_operations.cpp.

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 192 of file shape_operations.cpp.

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

ShapeMsg & | shape_msg |
||

) |

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

Definition at line 374 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 85 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 56 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 61 of file shape_operations.cpp.

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

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

Definition at line 150 of file shape_operations.cpp.

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

Construct a shape from plain text description.

Definition at line 519 of file shape_operations.cpp.

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 323 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 317 of file mesh_operations.cpp.

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 217 of file mesh_operations.cpp.

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 224 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 211 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 261 of file mesh_operations.cpp.

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 347 of file mesh_operations.cpp.

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

Construct a mesh from a box.

Definition at line 365 of file mesh_operations.cpp.

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

Construct a mesh from a sphere.

Definition at line 423 of file mesh_operations.cpp.

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

Construct a mesh from a cylinder.

Definition at line 489 of file mesh_operations.cpp.

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

Construct a mesh from a cone.

Definition at line 560 of file mesh_operations.cpp.

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 118 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 136 of file mesh_operations.cpp.

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

std::ostream & | out |
||

) |

Save all the information about this shape as plain text.

Definition at line 461 of file shape_operations.cpp.

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

Get the string name of the shape.

Definition at line 589 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 645 of file mesh_operations.cpp.