Aikido
shape_conversions.hpp
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1 #ifndef AIKIDO_RVIZ_SHAPE_CONVERSIONS_HPP_
2 #define AIKIDO_RVIZ_SHAPE_CONVERSIONS_HPP_
3 
4 #include <Eigen/Dense>
5 #include <geometry_msgs/Point.h>
6 #include <geometry_msgs/Vector3.h>
7 #include <std_msgs/ColorRGBA.h>
8 #include <visualization_msgs/Marker.h>
9 
10 #include "aikido/rviz/ResourceServer.hpp"
11 
12 struct aiMesh;
13 
14 namespace dart {
15 namespace dynamics {
16 
17 class Shape;
18 class BoxShape;
19 class CylinderShape;
20 class EllipsoidShape;
21 class LineSegmentShape;
22 class MeshShape;
23 class PlaneShape;
24 class SoftMeshShape;
25 
26 } // namespace dynamics
27 } // namespace dart
28 
29 namespace aikido {
30 namespace rviz {
31 
32 geometry_msgs::Point convertEigenToROSPoint(const Eigen::Vector3d& v);
33 geometry_msgs::Vector3 convertEigenToROSVector3(const Eigen::Vector3d& v);
34 geometry_msgs::Quaternion convertEigenToROSQuaternion(
35  const Eigen::Quaterniond& v);
36 geometry_msgs::Pose convertEigenToROSPose(const Eigen::Isometry3d& v);
37 std_msgs::ColorRGBA convertEigenToROSColorRGBA(const Eigen::Vector4d& v);
38 Eigen::Vector4d convertROSColorRGBAToEigen(const std_msgs::ColorRGBA& v);
39 
40 bool convertAssimpMeshToROSTriangleList(
41  const aiMesh& mesh, std::vector<geometry_msgs::Point>* triangle_list);
42 
43 bool convertShape(
44  const dart::dynamics::Shape& shape,
45  visualization_msgs::Marker* marker,
46  ResourceServer* resourceManager);
47 bool convertShape(
48  const dart::dynamics::BoxShape& shape,
49  visualization_msgs::Marker* marker,
50  ResourceServer* resourceManager);
51 bool convertShape(
52  const dart::dynamics::CylinderShape& shape,
53  visualization_msgs::Marker* marker,
54  ResourceServer* resourceManager);
55 bool convertShape(
56  const dart::dynamics::EllipsoidShape& shape,
57  visualization_msgs::Marker* marker,
58  ResourceServer* resourceManager);
59 bool convertShape(
60  const dart::dynamics::LineSegmentShape& shape,
61  visualization_msgs::Marker* marker,
62  ResourceServer* resourceManager);
63 bool convertShape(
64  const dart::dynamics::MeshShape& shape,
65  visualization_msgs::Marker* marker,
66  ResourceServer* resourceManager);
67 bool convertShape(
68  const dart::dynamics::PlaneShape& shape,
69  visualization_msgs::Marker* marker,
70  ResourceServer* resourceManager,
71  double width = 100.0);
72 bool convertShape(
73  const dart::dynamics::SoftMeshShape& shape,
74  visualization_msgs::Marker* marker,
75  ResourceServer* resourceManager);
76 
77 } // namespace rviz
78 } // namespace aikido
79 
80 #endif
aikido::rviz::convertROSColorRGBAToEigen
Eigen::Vector4d convertROSColorRGBAToEigen(const std_msgs::ColorRGBA &v)
aikido
Format of serialized trajectory in YAML.
Definition: algorithm.hpp:4
aikido::rviz::convertEigenToROSPoint
geometry_msgs::Point convertEigenToROSPoint(const Eigen::Vector3d &v)
aikido::rviz::convertShape
bool convertShape(const dart::dynamics::Shape &shape, visualization_msgs::Marker *marker, ResourceServer *resourceManager)
aikido::rviz::convertEigenToROSColorRGBA
std_msgs::ColorRGBA convertEigenToROSColorRGBA(const Eigen::Vector4d &v)
aikido::rviz::convertEigenToROSPose
geometry_msgs::Pose convertEigenToROSPose(const Eigen::Isometry3d &v)
aikido::rviz::convertAssimpMeshToROSTriangleList
bool convertAssimpMeshToROSTriangleList(const aiMesh &mesh, std::vector< geometry_msgs::Point > *triangle_list)
aikido::rviz::convertEigenToROSQuaternion
geometry_msgs::Quaternion convertEigenToROSQuaternion(const Eigen::Quaterniond &v)
ResourceServer.hpp
dart
Definition: FrameMarker.hpp:11
aikido::rviz::convertEigenToROSVector3
geometry_msgs::Vector3 convertEigenToROSVector3(const Eigen::Vector3d &v)