body_operations.h
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34 
35 /* Author: Ioan Sucan, E. Gil Jones */
36 
37 #ifndef GEOMETRIC_SHAPES_BODY_OPERATIONS_
38 #define GEOMETRIC_SHAPES_BODY_OPERATIONS_
39 
43 #include <geometry_msgs/Pose.h>
44 #include <visualization_msgs/Marker.h>
45 #include <vector>
46 
47 namespace bodies
48 {
50 Body* createEmptyBodyFromShapeType(const shapes::ShapeType& shapeType);
51 
53 Body* createBodyFromShape(const shapes::Shape* shape);
54 
56 Body* constructBodyFromMsg(const shape_msgs::Mesh& shape, const geometry_msgs::Pose& pose);
57 
59 Body* constructBodyFromMsg(const shape_msgs::SolidPrimitive& shape, const geometry_msgs::Pose& pose);
60 
62 Body* constructBodyFromMsg(const shapes::ShapeMsg& shape, const geometry_msgs::Pose& pose);
63 
66 
68 void constructMarkerFromBody(const bodies::Body* body, visualization_msgs::Marker& msg);
69 
71 void mergeBoundingSpheres(const std::vector<BoundingSphere>& spheres, BoundingSphere& mergedSphere);
72 
74 void mergeBoundingBoxes(const std::vector<AABB>& boxes, AABB& mergedBox);
75 
77 void computeBoundingSphere(const std::vector<const Body*>& bodies, BoundingSphere& mergedSphere);
78 } // namespace bodies
79 #endif
shapes::ShapeMsg
boost::variant< shape_msgs::SolidPrimitive, shape_msgs::Mesh, shape_msgs::Plane > ShapeMsg
Type that can hold any of the desired shape message types.
Definition: shape_messages.h:84
bodies::constructMarkerFromBody
void constructMarkerFromBody(const bodies::Body *body, visualization_msgs::Marker &msg)
Construct a Marker message that corresponds to this (scaled and padded) body.
Definition: body_operations.cpp:129
shapes::Shape
A basic definition of a shape. Shapes are considered centered at origin.
Definition: shapes.h:77
bodies::mergeBoundingBoxes
void mergeBoundingBoxes(const std::vector< AABB > &boxes, AABB &mergedBox)
Compute an axis-aligned bounding box to enclose a set of bounding boxes.
bodies::Body
A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding s...
Definition: bodies.h:120
shape_messages.h
bodies::computeBoundingSphere
void computeBoundingSphere(const std::vector< const Body * > &bodies, BoundingSphere &mergedSphere)
Compute the bounding sphere for a set of bodies and store the resulting sphere in mergedSphere.
bodies::constructBodyFromMsg
Body * constructBodyFromMsg(const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose)
Create a body from a given shape.
Definition: body_operations.cpp:211
bodies::createEmptyBodyFromShapeType
Body * createEmptyBodyFromShapeType(const shapes::ShapeType &shapeType)
Create a body from a given shape.
Definition: body_operations.cpp:43
shapes::ShapeType
ShapeType
A list of known shape types.
Definition: shapes.h:61
bodies::constructShapeFromBody
shapes::ShapeConstPtr constructShapeFromBody(const bodies::Body *body)
Get a shape that corresponds to this (scaled and padded) body.
Definition: body_operations.cpp:81
shapes.h
bodies.h
bodies
This set of classes allows quickly detecting whether a given point is inside an object or not....
Definition: aabb.h:42
bodies::mergeBoundingSpheres
void mergeBoundingSpheres(const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere)
Compute a bounding sphere to enclose a set of bounding spheres.
Definition: body_operations.cpp:146
shapes::ShapeConstPtr
std::shared_ptr< const Shape > ShapeConstPtr
Shared pointer to a const Shape.
Definition: shapes.h:406
bodies::createBodyFromShape
Body * createBodyFromShape(const shapes::Shape *shape)
Create a body from a given shape.
Definition: body_operations.cpp:68


geometric_shapes
Author(s): Ioan Sucan , Gil Jones
autogenerated on Sun Aug 22 2021 02:42:25