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