shapes.h File Reference

`#include <cstdlib>`

`#include <vector>`

`#include <iostream>`

`#include <memory>`

`#include <string>`

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## Classes | |

class | shapes::Box |

Definition of a box Aligned with the XYZ axes. More... | |

class | shapes::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 | shapes::Cylinder |

Definition of a cylinder Length is along z axis. Origin is at center of mass. More... | |

class | shapes::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. Padding is not applied to vertices plainly coordinate-wise, but instead the padding value is added to the length of the direction vector between centroid and each vertex. More... | |

class | shapes::OcTree |

Representation of an octomap::OcTree as a Shape. More... | |

class | shapes::Plane |

Definition of a plane with equation ax + by + cz + d = 0. More... | |

class | shapes::Shape |

A basic definition of a shape. Shapes are considered centered at origin. More... | |

class | shapes::Sphere |

Definition of a sphere. More... | |

## Namespaces | |

octomap | |

shapes | |

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

## Typedefs | |

typedef std::shared_ptr< const Shape > | shapes::ShapeConstPtr |

Shared pointer to a const Shape. More... | |

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

Shared pointer to a Shape. More... | |

## Enumerations | |

enum | shapes::ShapeType { shapes::UNKNOWN_SHAPE, shapes::SPHERE, shapes::CYLINDER, shapes::CONE, shapes::BOX, shapes::PLANE, shapes::MESH, shapes::OCTREE } |

A list of known shape types. More... | |

## Functions | |

std::ostream & | shapes::operator<< (std::ostream &ss, ShapeType type) |