Namespace bodies

This set of classes allows quickly detecting whether a given point is inside an object or not. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example).

Classes

• Struct BoundingCylinder

• Struct BoundingSphere

• Class AABB

• Class Body

• Class BodyVector

• Class Box

• Class ConvexMesh

• Class Cylinder

• Class OBB

• Class Sphere

Functions

• Function bodies::computeBoundingSphere

• Function bodies::constructBodyFromMsg(const shape_msgs::msg::Mesh&, const geometry_msgs::msg::Pose&)

• Function bodies::constructBodyFromMsg(const shape_msgs::msg::SolidPrimitive&, const geometry_msgs::msg::Pose&)

• Function bodies::constructBodyFromMsg(const shapes::ShapeMsg&, const geometry_msgs::msg::Pose&)

• Function bodies::constructMarkerFromBody

• Function bodies::constructShapeFromBody

• Function bodies::createBodyFromShape

• Function bodies::createEmptyBodyFromShapeType

• Function bodies::mergeBoundingBoxes

• Function bodies::mergeBoundingBoxesApprox

• Function bodies::mergeBoundingSpheres

Typedefs

• Typedef bodies::BodyConstPtr

• Typedef bodies::BodyPtr