50 lines
1.6 KiB
Text
50 lines
1.6 KiB
Text
# Defines box, sphere, cylinder, cone and prism.
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# All shapes are defined to have their bounding boxes centered around 0,0,0.
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uint8 BOX=1
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uint8 SPHERE=2
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uint8 CYLINDER=3
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uint8 CONE=4
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uint8 PRISM=5
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# The type of the shape
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uint8 type
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# The dimensions of the shape
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float64[<=3] dimensions # At no point will dimensions have a length > 3.
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# The meaning of the shape dimensions: each constant defines the index in the 'dimensions' array.
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# For type BOX, the X, Y, and Z dimensions are the length of the corresponding sides of the box.
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uint8 BOX_X=0
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uint8 BOX_Y=1
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uint8 BOX_Z=2
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# For the SPHERE type, only one component is used, and it gives the radius of the sphere.
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uint8 SPHERE_RADIUS=0
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# For the CYLINDER and CONE types, the center line is oriented along the Z axis.
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# Therefore the CYLINDER_HEIGHT (CONE_HEIGHT) component of dimensions gives the
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# height of the cylinder (cone).
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# The CYLINDER_RADIUS (CONE_RADIUS) component of dimensions gives the radius of
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# the base of the cylinder (cone).
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# Cone and cylinder primitives are defined to be circular. The tip of the cone
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# is pointing up, along +Z axis.
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uint8 CYLINDER_HEIGHT=0
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uint8 CYLINDER_RADIUS=1
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uint8 CONE_HEIGHT=0
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uint8 CONE_RADIUS=1
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# For the type PRISM, the center line is oriented along Z axis.
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# The PRISM_HEIGHT component of dimensions gives the
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# height of the prism.
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# The polygon defines the Z axis centered base of the prism.
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# The prism is constructed by extruding the base in +Z and -Z
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# directions by half of the PRISM_HEIGHT
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# Only x and y fields of the points are used in the polygon.
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# Points of the polygon are ordered counter-clockwise.
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uint8 PRISM_HEIGHT=0
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geometry_msgs/Polygon polygon
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