-
Notifications
You must be signed in to change notification settings - Fork 92
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request #32 from davetcoleman/merge_shape_msgs
Merge shape_tools package into geometric shapes
- Loading branch information
Showing
9 changed files
with
470 additions
and
20 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2012, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the Willow Garage nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| #ifndef GEOMETRIC_SHAPES_SHAPE_EXTENTS_ | ||
| #define GEOMETRIC_SHAPES_SHAPE_EXTENTS_ | ||
|
|
||
| #include <shape_msgs/SolidPrimitive.h> | ||
| #include <shape_msgs/Mesh.h> | ||
|
|
||
| namespace geometric_shapes | ||
| { | ||
|
|
||
| /** \brief Get the dimensions of an axis-aligned bounding box for the shape described by \e shape_msg */ | ||
| void getShapeExtents(const shape_msgs::SolidPrimitive& shape_msg, double& x_extent, double& y_extent, double& z_extent); | ||
|
|
||
| /** \brief Get the dimensions of an axis-aligned bounding box for the shape described by \e shape_msg */ | ||
| void getShapeExtents(const shape_msgs::Mesh& shape_msg, double& x_extent, double& y_extent, double& z_extent); | ||
|
|
||
| } | ||
|
|
||
| #endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2012, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the Willow Garage nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| #ifndef GEOMETRIC_SHAPES_SHAPE_TO_MARKER_ | ||
| #define GEOMETRIC_SHAPES_SHAPE_TO_MARKER_ | ||
|
|
||
| #include <shape_msgs/Mesh.h> | ||
| #include <shape_msgs/SolidPrimitive.h> | ||
| #include <visualization_msgs/Marker.h> | ||
|
|
||
| namespace geometric_shapes | ||
| { | ||
|
|
||
| /** \brief Convert a shape_msgs::Mesh \e shape_msg to a | ||
| visualization_msgs::Marker \e marker. The corresponding marker | ||
| will be constructed as a LINE_LIST (if \e use_mesh_triangle_list | ||
| is false) or as a TRIANGLE_LIST (if \e use_mesh_triangle_list is | ||
| true). On incorrect input, this function throws a | ||
| std::runtime_error. */ | ||
| void constructMarkerFromShape(const shape_msgs::Mesh &shape_msg, visualization_msgs::Marker &marker, bool use_mesh_triangle_list = true); | ||
|
|
||
| /** \brief Convert a shape_msgs::SolidPrimitive \e shape_msg to a | ||
| visualization_msgs::Marker \e marker. On incorrect input, this | ||
| function throws a std::runtime_error. */ | ||
| void constructMarkerFromShape(const shape_msgs::SolidPrimitive &shape_msg, visualization_msgs::Marker &marker); | ||
|
|
||
| } | ||
|
|
||
| #endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2012, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the Willow Garage nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| #ifndef GEOMETRIC_SHAPES_SOLID_PRIMITIVE_DIMS_ | ||
| #define GEOMETRIC_SHAPES_SOLID_PRIMITIVE_DIMS_ | ||
|
|
||
| #include <shape_msgs/SolidPrimitive.h> | ||
|
|
||
| namespace geometric_shapes | ||
| { | ||
|
|
||
| /** \brief The number of dimensions of a particular shape */ | ||
| template<int> | ||
| struct SolidPrimitiveDimCount | ||
| { | ||
| enum { value = 0 }; | ||
| }; | ||
|
|
||
| template<> | ||
| struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE> | ||
| { | ||
| enum | ||
| { | ||
| value = static_cast<int>(shape_msgs::SolidPrimitive::SPHERE_RADIUS) + 1 | ||
| }; | ||
| }; | ||
|
|
||
| template<> | ||
| struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::BOX> | ||
| { | ||
| enum | ||
| { | ||
| value = (static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) && | ||
| static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z)) ? | ||
| static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) : | ||
| (((static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) && | ||
| static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z))) ? | ||
| static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y) : | ||
| ((static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_X) && | ||
| static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) >= static_cast<int>(shape_msgs::SolidPrimitive::BOX_Y)) ? | ||
| static_cast<int>(shape_msgs::SolidPrimitive::BOX_Z) : 0)) + 1 | ||
| }; | ||
| }; | ||
|
|
||
| template<> | ||
| struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CONE> | ||
| { | ||
| enum | ||
| { | ||
| value = (static_cast<int>(shape_msgs::SolidPrimitive::CONE_RADIUS) >= static_cast<int>(shape_msgs::SolidPrimitive::CONE_HEIGHT) ? | ||
| static_cast<int>(shape_msgs::SolidPrimitive::CONE_RADIUS) : static_cast<int>(shape_msgs::SolidPrimitive::CONE_HEIGHT)) + 1 | ||
| }; | ||
| }; | ||
|
|
||
| template<> | ||
| struct SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CYLINDER> | ||
| { | ||
| enum | ||
| { | ||
| value = (static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_RADIUS) >= static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_HEIGHT) ? | ||
| static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_RADIUS) : static_cast<int>(shape_msgs::SolidPrimitive::CYLINDER_HEIGHT)) + 1 | ||
| }; | ||
| }; | ||
|
|
||
|
|
||
| } | ||
|
|
||
| #endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.