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 package was recently merged into this package

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

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

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Changelog for package geometric_shapes

2.3.1 (2024-12-06)

• Fix dependency handling (#256) Declare fcl, qhull, and assimp as non-transitive, build-only dependencies. They are not exposed in headers.
• Contributors: Martin Pecka

2.3.0 (2024-11-29)

• Install headers into subdirectory (#253)
• Added bodies::Body::computeBoundingBox (oriented box version) (#239)
• Improve padding of meshes using weighted vertex normals (#240)
• Contributors: Kenji Brameld (TRACLabs), Robert Haschke, Sebastian Castro, Sebastian Pelletier, Tyler Mayoff

2.2.1 (2024-06-26)

• Use the system version of octomap (#244)
• Contributors: Chris Lalancette

2.2.0 (2024-06-07)

• Jazzy Support (#241)
  • Update CI workflows to Rolling, Jazzy, Humble
  • Fix octomap dependency version to 1.9.7...<1.10.0
• Fix Box::print (#237)
• CI: Fix cache key (#236)
• Switch to clang-format-14 (#228)
• Add humble testing (#221)
• Update black version (#218)
• Contributors: Henning Kayser, Matthijs van der Burgh, Stephanie Eng, Vatan Aksoy Tezer, Robert Haschke, Jafar Abdi

2.1.3 (2022-03-08)

• [jammy] Fix assimp linking and cmake error (#215)
• Contributors: Vatan Aksoy Tezer

2.1.2 (2021-12-22)

• Fix cmake such that Boost::filesystem is exported properly (#206) Co-authored-by: Jordan Lack <<jlack@houstonmechatronics.com>>
• Contributors: Jafar Abdi

2.1.1 (2021-09-27)

• Changed retriever.h to retriever.hpp in mesh_operations.cpp in order to align with resource_retriever ros2 branch (#200)
• Add Copyright and LICENSE files
• Fix building on Windows with MSVC (#189)
• Contributors: Akash, Diego Rojas, Mark Moll, Tyler Weaver, Vatan Aksoy Tezer

2.1.0 (2021-06-15)

• Add Galactic CI, cleanup rolling (#190)
• Sync ros2 branch with noetic-devel up to d147f03 (#190)
• Contributors: Jafar Abdi, Henning Kayser, Vatan Aksoy Tezer

2.0.2 (2021-05-22)

• Declare assimp add qhull as SYSTEM dependency to suppress compiler warnings (#186)
• Fix export depends (#182)
• Add rolling to CI test (#179)
• Contributors: Jafar Abdi, Tyler Weaver

2.0.1 (2021-04-09)

• Set target compile options in cmake for warnings
• [fix] cmake install command (#164)
• Contributors: Tyler Weaver

2.0.0 (2020-11-20)

• [maint] Travis: Disable warnings as gcc warns about redundant declarations in qhull includes
• [maint] Inherit package VERSION (for library soname) from package.xml
• [maint] Trim boost dependencies #156
  • libboost-math libraries unnecessary as only headers-only parts are used
  • move author tags below to comply with the xsd
• [maint] Compile on ROS2 Foxy (#153)
  • Suppress assimp CMP0012 policy warning
  • Use console_bridge_vendor dependency wrapper
  • Fix CMakeLists issues:
    • remove ASSIMP export dependency
    • fix linking of OCTOMAP, resource_retriever
• [maint] Resolve octomap dependency with rosdep (#124)
• [maint] struct SolidPrimitiveDimCount -> function solidPrimitiveDimCount() (#121)
• [ros2-migration] Port to ROS 2 (#122)
  • Migrate CMakeLists.txt, package.xml, messages
  • Enable Travis: Run on ROS 2, enable ament_lint_cmake
• Contributors: Henning Kayser, Mikael Arguedas, Robert Haschke, Víctor Mayoral Vilches

0.7.2 (2020-09-25)

• [maint] Renamed SolidPrimitiveDimCount<shape>::value -> solidPrimitiveDimCount<shape>() (#121)
• [maint] cmake: Consistently use uppercase letters for QHULL dependency
• [maint] cmake: Fix assimp warning
• [maint] Update build badges for Noetic
• Contributors: Robert Haschke

0.7.1 (2020-08-31)

• [maint] Declare external includes as SYSTEM includes
• [maint] Migration to reentrant qhull (#149)
• [maint] Use soname version for library (#157)
• Contributors: Jochen Sprickerhof, Robert Haschke, Tyler Weaver

0.7.0 (2020-05-25)

• [feature] Added constructShapeFromBody() and constructMarkerFromBody() (#138)
• [maint] API cleanup
  • Improve inlining
  • ConvexMesh::MeshData as pimpl
  • Reverted ABI compatibility fixups for Melodic: ed4cf1339cf3765ae9ffa6e6fd111a4e342c5fa2, d582479084a10cac53a7f17e29818b3d8be6161e
• Contributors: Martin Pecka, Robert Haschke

0.6.3 (2020-05-25)

• [maint] Provide checkIsometry() helper function (#144)
• [maint] Remove dynamic casts (#143)
• [feature] Added createEmptyBodyFromShapeType() (#137) This allows more efficient body construction when scale, padding or pose should also be set during the construction.
• Contributors: Martin Pecka, Michael Görner

0.6.2 (2020-05-02)

• [maint] clang-tidy fixes in headers (#139)
• [fix] Various fixes + performance improvements (#109, #126, #107, #108)
  • Use Eigen::Isometry3d::linear() instead of rotation()
  • Normalize the direction vector passed to Body::intersectsRay() (#115)
  • Improved test coverage
• [feature] Added support for non-uniform scaling and padding of shapes. (#103)
• [maint] Made bodies::samplePointInside() const. (#133)
• [fix] Throw runtime exception when a shape or body should have a negative dimension. (#106)
• [maint] Prefer std::make_shared (#116)
• [maint] clang-tidy fixes (#114)
• [fix] Use covariant returns for clone() (#102)
• [feature] Added bodies::Body::computeBoundingBox (aligned box version). (#104)
• [maint] Windows compatibility: fix ASSIMP libraries path (#101)
• [fix] Body::containsPoint(): always include surface points (#97)
• Contributors: Martin Pecka, Alejandro Hernández Cordero, Bryce Willey, Michael Görner, Mike Lautman, Robert Haschke, RoboticsYY, Sean Yen, Tyler Weaver

0.6.1 (2018-12-09)

• Limit minimum number of cylinder vertices (on circumference) to 6 (#92)
• Eigen::Affine3d -> Eigen::Isometry3d (#88)
• Contributors: Robert Haschke, eisoku9618

0.6.0 (2018-05-14)

• Add method getPlanes and use double precision for planes (#82)
• Contributors: Bence Magyar

0.5.4 (2018-04-06)

• gracefully handle negative cylinder height: #64, #80
• clang-formatting of whole repo: #79
• operator<< for ShapeType: #80
• adaption to new CONSOLE_BRIDGE_logXXX API: #75, #72
• [fix] box-ray intersection: #73
• Contributors: Dave Coleman, Leroy Rügemer, Malcolm Mielle, Mike Purvis, Robert Haschke, Michael Goerner

0.5.3 (2017-11-26)

• [enhance] Add warning about common Assimp bug (#63)
• [maintenance] Update maintainers (#66)
• Contributors: Dave Coleman

0.5.2 (2016-10-20)

• [fix] mesh with too many vertices (#39) (#60)
• [fix] gcc6 build error (#56)
• [fix] Clear root transformation on imported Collada meshes. #52
• [improve] relax mesh containment test (#58)
• [maintenance] Switch boost::shared_ptr to std::shared_ptr. #57
• Contributors: Dave Coleman, Isaac I.Y. Saito, Lukas Bulwahn, Maarten de Vries, Michael Goerner

0.5.1 (2016-08-23)

• add c++11 safe-guards to the respective headers (#51) This is, to be polite and point problems that might arise it out to users.
• Fix incorrect hint always sent to Assimp, improved STL reading (#24)
• Contributors: Dave Coleman, Michael Görner

0.5.0 (2016-07-31)

• [fix] append cmake module path instead of prepending (#22)
• [fix] FindQhull with non-debian systems (#30). See https://github.com/PointCloudLibrary/pcl/pull/852
• [sys] Use std::shared_ptr for compatibility with FCL 0.5. #47
• [sys] Switch to eigen 3 (#46)
• [sys] Switched to C++11 #44
• [sys] add notice that project will be built in Release mode
• [sys] Remove link_directories, deprecated assimp code
• Contributors: Dave Coleman, Ioan A Sucan, Jochen Sprickerhof, Maarten de Vries, Michael Goerner

0.4.4 (2016-03-06)

• Merge pull request #37 from corot/indigo-devel Fix issue #28 on small radius cylinders
• Contributors: Dave Coleman, Jorge Santos Simon

0.4.3 (2015-04-30)

• add functions for better display of convex meshes
• produce actual triangles for qhull mesh
• Fixed inverted scale for convex meshes inside check
• Contributors: Christian Dornhege, Michael Ferguson

0.4.2 (2015-04-22)

• PR #32 Merge shape_tools package into geometric shapes
• PR #33 Add run_depend on visualization_msgs
• PR #26 Prevent every mesh generation opening a new file handle.
• Contributors: Christian Dornhege, Dave Coleman, Jochen Sprickerhof, Michael Ferguson, Steven Peters

0.4.1 (2014-07-07)

• update distro for travis testing. precise:=trusty
• update to use debian console_bridge dependency. https://github.com/ros/rosdistro/issues/4633
• Contributors: Ioan A Sucan, Tully Foote

0.4.0 (2014-06-24)

• update usage of console_bridge to deal with version in Trusty
• Merge pull request #13 from ros-planning/testing-in-travis Run local and moveit_core tests in Travis builds.
• Merge pull request #18 from dirk-thomas/hydro-devel fix configure config.h.in when paths contain spaces fix #9
• Run local and moveit_core tests in Travis builds.
• Contributors: Acorn, Dave Hershberger, Dirk Thomas, Ioan A Sucan, William Woodall

0.3.8 (2014-02-25)

• fix how we find eigen
• Contributors: Ioan Sucan

0.3.7 (2014-02-23)

• add build dep so we can find eigen, build fixes
• Contributors: Ioan A Sucan, Scott K Logan

0.3.6 (2014-01-31)

• Use assimp-dev dep for building
• Remove stray IS_ASSIMP3 define
• Invert Assimp version detect logic for greater accuracy
• Better feature detection for assimp version
• added travis support
• check for CATKIN_ENABLE_TESTING
• Contributors: Dave Hershberger, Ioan A Sucan, Lukas Bulwahn, Scott K Logan

0.3.5 (2013-09-23)

• Fix syntax error.
• white space fixes (tabs are now spaces)
• add comments for shape definitions