solid_primitive_dims.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, 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 #ifndef SHAPE_TOOLS_SOLID_PRIMITIVE_DIMS_
00036 #define SHAPE_TOOLS_SOLID_PRIMITIVE_DIMS_
00037 
00038 #include <shape_msgs/SolidPrimitive.h>
00039 
00040 namespace shape_tools
00041 {
00042 
00044 template<int>
00045 struct SolidPrimitiveDimCount
00046 {
00047   enum { value = 0 };
00048 };
00049 
00050 template<>
00051 struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE>
00052 {
00053   enum
00054     {
00055       value = static_cast<int>(shape_msgs::SolidPrimitive::SPHERE_RADIUS) + 1
00056     };
00057 };
00058 
00059 template<>
00060 struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::BOX>
00061 {
00062   enum
00063     {
00064       value = (static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) &&
00065                static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z)) ?
00066       static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) :
00067       (((static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) &&
00068          static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z))) ?
00069        static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) :
00070        ((static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) &&
00071          static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y)) ?
00072         static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) : 0)) + 1
00073     };
00074 };
00075 
00076 template<>
00077 struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CONE>
00078 {
00079   enum
00080     {
00081       value = (static_cast<int>(shape_msgs::SolidPrimitive::CONE_RADIUS) >= static_cast<int>(shape_msgs::SolidPrimitive::CONE_HEIGHT) ?
00082                static_cast<int>(shape_msgs::SolidPrimitive::CONE_RADIUS) : static_cast<int>(shape_msgs::SolidPrimitive::CONE_HEIGHT)) + 1
00083     };
00084 };
00085 
00086 template<>
00087 struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CYLINDER>
00088 {
00089   enum
00090     {
00091       value = (static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_RADIUS) >= static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_HEIGHT) ?
00092                static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_RADIUS) : static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_HEIGHT)) + 1
00093     };
00094 };
00095 
00096 
00097 }
00098 
00099 #endif


shape_tools
Author(s): Ioan Sucan , Gil Jones
autogenerated on Sat Jun 8 2019 20:37:28