From 55bcd99bc469622c32b1f638479708ec0c74ff1c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 9 Dec 2021 02:38:49 +0300 Subject: [PATCH] Add prism type to the SolidPrimitive.msg (#166) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- shape_msgs/msg/SolidPrimitive.msg | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/shape_msgs/msg/SolidPrimitive.msg b/shape_msgs/msg/SolidPrimitive.msg index 14992cad..a1189a02 100644 --- a/shape_msgs/msg/SolidPrimitive.msg +++ b/shape_msgs/msg/SolidPrimitive.msg @@ -1,10 +1,11 @@ -# Defines box, sphere, cylinder, and cone. +# Defines box, sphere, cylinder, cone and prism. # 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 +uint8 PRISM=5 # The type of the shape uint8 type @@ -35,3 +36,15 @@ uint8 CYLINDER_RADIUS=1 uint8 CONE_HEIGHT=0 uint8 CONE_RADIUS=1 + +# For the type PRISM, the center line is oriented along Z axis. +# The PRISM_HEIGHT component of dimensions gives the +# height of the prism. +# The polygon defines the Z axis centered base of the prism. +# The prism is constructed by extruding the base in +Z and -Z +# directions by half of the PRISM_HEIGHT +# Only x and y fields of the points are used in the polygon. +# Points of the polygon are ordered counter-clockwise. + +uint8 PRISM_HEIGHT=0 +geometry_msgs/Polygon[] polygon