shape_msgs

Summary

shape_msgs
Version:

1.12.3
Description:

This package contains messages for defining shapes, such as simple solid object primitives (cube, sphere, etc), planes, and meshes.
Maintainers:
  • Ioan Sucan <isucan AT willowgarage DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Ioan Sucan
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:
Exports:
  • <architecture_independent/>

Types

Message types

shape_msgs/MeshTriangle
Field:
  • vertex_indices[3] (uint32) –

Definition of a triangle’s vertices

# Definition of a triangle's vertices
uint32[3] vertex_indices
shape_msgs/Plane
Field:
  • coef[4] (float64) –

Representation of a plane, using the plane equation ax + by + cz + d = 0

a := coef[0] b := coef[1] c := coef[2] d := coef[3]

# Representation of a plane, using the plane equation ax + by + cz + d = 0

# a := coef[0]
# b := coef[1]
# c := coef[2]
# d := coef[3]

float64[4] coef
shape_msgs/SolidPrimitive
Constant:
  • BOX (uint8):1 –
  • SPHERE (uint8):2 –
  • CYLINDER (uint8):3 –
  • CONE (uint8):4 –
  • BOX_X (uint8):0 –
  • BOX_Y (uint8):1 –
  • BOX_Z (uint8):2 –
  • SPHERE_RADIUS (uint8):0 –
  • CYLINDER_HEIGHT (uint8):0 –
  • CYLINDER_RADIUS (uint8):1 –
  • CONE_HEIGHT (uint8):0 –
  • CONE_RADIUS (uint8):1 –
Field:
  • type (uint8) –
  • dimensions[] (float64) –

Define box, sphere, cylinder, cone All shapes are defined to have their bounding boxes centered around 0,0,0.

# Define box, sphere, cylinder, cone 
# 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

# The type of the shape
uint8 type


# The dimensions of the shape
float64[] dimensions

# The meaning of the shape dimensions: each constant defines the index in the 'dimensions' array

# For the BOX type, the X, Y, and Z dimensions are the length of the corresponding
# sides of the box.
uint8 BOX_X=0
uint8 BOX_Y=1
uint8 BOX_Z=2


# For the SPHERE type, only one component is used, and it gives the radius of
# the sphere.
uint8 SPHERE_RADIUS=0


# For the CYLINDER and CONE types, the center line is oriented along
# the Z axis.  Therefore the CYLINDER_HEIGHT (CONE_HEIGHT) component
# of dimensions gives the height of the cylinder (cone).  The
# CYLINDER_RADIUS (CONE_RADIUS) component of dimensions gives the
# radius of the base of the cylinder (cone).  Cone and cylinder
# primitives are defined to be circular. The tip of the cone is
# pointing up, along +Z axis.

uint8 CYLINDER_HEIGHT=0
uint8 CYLINDER_RADIUS=1

uint8 CONE_HEIGHT=0
uint8 CONE_RADIUS=1
shape_msgs/Mesh
Field:

Definition of a mesh

list of triangles; the index values refer to positions in vertices[]

# Definition of a mesh

# list of triangles; the index values refer to positions in vertices[]
MeshTriangle[] triangles

# the actual vertices that make up the mesh
geometry_msgs/Point[] vertices