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Add prism type to the SolidPrimitive.msg (#166) #167

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Dec 8, 2021
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Add prism type to the SolidPrimitive.msg (#166) #167

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15 changes: 14 additions & 1 deletion shape_msgs/msg/SolidPrimitive.msg
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Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
# Defines box, sphere, cylinder, and cone.
# Defines box, sphere, cylinder, cone and prism.
# All shapes are defined to have their bounding boxes centered around 0,0,0.

uint8 BOX=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 CONE=4
uint8 PRISM=5

# The type of the shape
uint8 type
Expand Down Expand Up @@ -35,3 +36,15 @@ uint8 CYLINDER_RADIUS=1

uint8 CONE_HEIGHT=0
uint8 CONE_RADIUS=1

# For the type PRISM, the center line is oriented along Z axis.
# The PRISM_HEIGHT component of dimensions gives the
# height of the prism.
# The polygon defines the Z axis centered base of the prism.
# The prism is constructed by extruding the base in +Z and -Z
# directions by half of the PRISM_HEIGHT
# Only x and y fields of the points are used in the polygon.
# Points of the polygon are ordered counter-clockwise.

uint8 PRISM_HEIGHT=0
geometry_msgs/Polygon[] polygon