shape_extents.cpp
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34 
37 #include <limits>
38 
39 void geometric_shapes::getShapeExtents(const shape_msgs::SolidPrimitive& shape_msg, double& x_extent, double& y_extent,
40  double& z_extent)
41 {
42  x_extent = y_extent = z_extent = 0.0;
43 
44  if (shape_msg.type == shape_msgs::SolidPrimitive::SPHERE)
45  {
46  if (shape_msg.dimensions.size() >=
48  x_extent = y_extent = z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::SPHERE_RADIUS] * 2.0;
49  }
50  else if (shape_msg.type == shape_msgs::SolidPrimitive::BOX)
51  {
53  {
54  x_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_X];
55  y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Y];
56  z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Z];
57  }
58  }
59  else if (shape_msg.type == shape_msgs::SolidPrimitive::CYLINDER)
60  {
61  if (shape_msg.dimensions.size() >=
63  {
64  x_extent = y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_RADIUS] * 2.0;
65  z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_HEIGHT];
66  }
67  }
68  else if (shape_msg.type == shape_msgs::SolidPrimitive::CONE)
69  {
70  if (shape_msg.dimensions.size() >=
72  {
73  x_extent = y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_RADIUS] * 2.0;
74  z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_HEIGHT];
75  }
76  }
77 }
78 
79 void geometric_shapes::getShapeExtents(const shape_msgs::Mesh& shape_msg, double& x_extent, double& y_extent,
80  double& z_extent)
81 {
82  x_extent = y_extent = z_extent = 0.0;
83  if (!shape_msg.vertices.empty())
84  {
85  double xmin = std::numeric_limits<double>::max(), ymin = std::numeric_limits<double>::max(),
86  zmin = std::numeric_limits<double>::max();
87  double xmax = -std::numeric_limits<double>::max(), ymax = -std::numeric_limits<double>::max(),
88  zmax = -std::numeric_limits<double>::max();
89  for (const geometry_msgs::Point& vertex : shape_msg.vertices)
90  {
91  if (vertex.x > xmax)
92  xmax = vertex.x;
93  if (vertex.x < xmin)
94  xmin = vertex.x;
95  if (vertex.y > ymax)
96  ymax = vertex.y;
97  if (vertex.y < ymin)
98  ymin = vertex.y;
99  if (vertex.z > zmax)
100  zmax = vertex.z;
101  if (vertex.z < zmin)
102  zmin = vertex.z;
103  }
104  x_extent = xmax - xmin;
105  y_extent = ymax - ymin;
106  z_extent = zmax - zmin;
107  }
108 }
void getShapeExtents(const shape_msgs::SolidPrimitive &shape_msg, double &x_extent, double &y_extent, double &z_extent)
Get the dimensions of an axis-aligned bounding box for the shape described by shape_msg.
The number of dimensions of a particular shape.


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Sun May 2 2021 02:13:07