File: shape_extents.cpp

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ros-geometric-shapes 0.7.0-4
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/*********************************************************************
 * 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
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#include <geometric_shapes/shape_extents.h>
#include <geometric_shapes/solid_primitive_dims.h>
#include <limits>

void geometric_shapes::getShapeExtents(const shape_msgs::SolidPrimitive& shape_msg, double& x_extent, double& y_extent,
                                       double& z_extent)
{
  x_extent = y_extent = z_extent = 0.0;

  if (shape_msg.type == shape_msgs::SolidPrimitive::SPHERE)
  {
    if (shape_msg.dimensions.size() >=
        geometric_shapes::SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::SPHERE>::value)
      x_extent = y_extent = z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::SPHERE_RADIUS] * 2.0;
  }
  else if (shape_msg.type == shape_msgs::SolidPrimitive::BOX)
  {
    if (shape_msg.dimensions.size() >= geometric_shapes::SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::BOX>::value)
    {
      x_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_X];
      y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Y];
      z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Z];
    }
  }
  else if (shape_msg.type == shape_msgs::SolidPrimitive::CYLINDER)
  {
    if (shape_msg.dimensions.size() >=
        geometric_shapes::SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CYLINDER>::value)
    {
      x_extent = y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_RADIUS] * 2.0;
      z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_HEIGHT];
    }
  }
  else if (shape_msg.type == shape_msgs::SolidPrimitive::CONE)
  {
    if (shape_msg.dimensions.size() >=
        geometric_shapes::SolidPrimitiveDimCount<shape_msgs::SolidPrimitive::CONE>::value)
    {
      x_extent = y_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_RADIUS] * 2.0;
      z_extent = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_HEIGHT];
    }
  }
}

void geometric_shapes::getShapeExtents(const shape_msgs::Mesh& shape_msg, double& x_extent, double& y_extent,
                                       double& z_extent)
{
  x_extent = y_extent = z_extent = 0.0;
  if (!shape_msg.vertices.empty())
  {
    double xmin = std::numeric_limits<double>::max(), ymin = std::numeric_limits<double>::max(),
           zmin = std::numeric_limits<double>::max();
    double xmax = -std::numeric_limits<double>::max(), ymax = -std::numeric_limits<double>::max(),
           zmax = -std::numeric_limits<double>::max();
    for (const geometry_msgs::Point& vertex : shape_msg.vertices)
    {
      if (vertex.x > xmax)
        xmax = vertex.x;
      if (vertex.x < xmin)
        xmin = vertex.x;
      if (vertex.y > ymax)
        ymax = vertex.y;
      if (vertex.y < ymin)
        ymin = vertex.y;
      if (vertex.z > zmax)
        zmax = vertex.z;
      if (vertex.z < zmin)
        zmin = vertex.z;
    }
    x_extent = xmax - xmin;
    y_extent = ymax - ymin;
    z_extent = zmax - zmin;
  }
}