https://github.com/moveit/geometric_shapes

Representation of geometric shapes
https://github.com/moveit/geometric_shapes

Last synced: 3 months ago
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Representation of geometric shapes

• Host: GitHub
• URL: https://github.com/moveit/geometric_shapes
• Owner: moveit
• Created: 2012-11-13T10:07:18.000Z (over 12 years ago)
• Default Branch: noetic-devel
• Last Pushed: 2025-02-07T02:47:35.000Z (5 months ago)
• Last Synced: 2025-03-28T16:06:31.491Z (3 months ago)
• Language: C++
• Size: 509 KB
• Stars: 58
• Watchers: 22
• Forks: 93
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst

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README

        
# Geometric Shapes

This package contains generic definitions of geometric shapes and bodies, as well as tools for operating on shape messages.

Shapes represent only the form of an object.

Bodies are shapes at a particular pose. Routines such as point containment and ray intersections are provided.

Supported shapes:

- sphere

- box

- cone

- cylinder

- mesh

Note: Bodies for meshes compute the convex hull of those meshes in order to provide the point containment / ray intersection routines.

Note: [shape_tools](https://github.com/ros-planning/shape_tools) package was recently merged into this package

Note: `bodies::Box::corner1_` was renamed to `minCorner_` and `bodies::Box::corner2_` to `maxCorner_` in Noetic.

Note: `bodies::ConvexMesh::MeshData` was made implementation-private in Noetic and is no longer accessible from the `.h` file.

## Build Status

GitHub Actions:

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