def toROSPolygon2DModel(self): ros = Polygon2DModel() ros.id = self.id ros.type = str(self.type) ros.pose = self.pose.toROS() ros.geometry = toPolygon2D(self.geometry) return ros
def toConcaveHullModel(self):
ros = Polygon2DModel()
ros.type = "ConcaveHull"
ros.geometry = toPolygon2D(self.getConcaveHull2D())
return ros
def toFootprintHullModel(self):
ros = Polygon2DModel()
ros.type = "FootprintHull"
ros.geometry = toPolygon2D(self.getConvexHull2D())
return ros
def toFootprintBoxModel(self):
ros = Polygon2DModel()
ros.type = "FootprintBox"
geo = self.getBox2D()
ros.geometry = toPolygon2D(geo)
return ros
def toAbsoluteFootprintHullModel(self):
ros = Polygon2DModel()
ros.type = "FootprintHull"
ros.pose = nullPose()
ros.geometry = toPolygon2D(self.getAConvexHull2D())
return ros
def toAbsoluteFootprintBoxModel(self):
ros = Polygon2DModel()
ros.type = "FootprintBox"
ros.geometry = toPolygon2D(self.getABox2D())
return ros
def toAxisAlignedBoundingBoxModel(self):
ros = Polygon2DModel()
ros.type = "AxisAligned3D"
ros.geometry = toPolygonMesh3D(self.getAABox3D())
return ros
def toAxisAlignedFootprintBoxModel(self):
ros = Polygon2DModel()
ros.type = "AxisAligned2D"
ros.geometry = toPolygon2D(self.getAABox2D())
return ros
def toPosition2DModel(self):
ros = Polygon2DModel()
ros.type = "Position2D"
ros.geometry = toPoint2D(self.getAPosition2D())
return ros