def make_box(name, pose, size):
"""
Creates a box collision object.
:param name: name of the box
:type: str
:param pose: position of the box
:type: PoseStamped
:param size: box size
:type: [float(x), float(y), float(z)]
:return: box collision object
:type: CollisionObject
"""
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
box = SolidPrimitive()
box.type = SolidPrimitive.BOX
box.dimensions = list(size)
co.primitives = [box]
co.primitive_poses = [pose.pose]
return co
def make_cylinder(name, pose, size):
"""
Creates a cylinder collision object.
:param name: name of the cylinder
:type: str
:param pose: position of the cylinder
:type: PoseStamped
:param size: cylinder size
:type: [float(height), float(radius)]
:return: cylinder collisionobject
:type: CollisionObject
"""
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
cylinder = SolidPrimitive()
cylinder.type = SolidPrimitive.CYLINDER
cylinder.dimensions = list(size)
co.primitives = [cylinder]
co.primitive_poses = [pose.pose]
return co
def make_cylinder(name, pose, size):
"""
Creates a cylinder collision object.
:param name: name of the cylinder
:type: str
:param pose: position of the cylinder
:type: PoseStamped
:param size: cylinder size
:type: [float(height), float(radius)]
:return: cylinder collisionobject
:type: CollisionObject
"""
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
cylinder = SolidPrimitive()
cylinder.type = SolidPrimitive.CYLINDER
cylinder.dimensions = list(size)
co.primitives = [cylinder]
co.primitive_poses = [pose.pose]
return co
def make_box(name, pose, size):
"""
Creates a box collision object.
:param name: name of the box
:type: str
:param pose: position of the box
:type: PoseStamped
:param size: box size
:type: [float(x), float(y), float(z)]
:return: box collision object
:type: CollisionObject
"""
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
box = SolidPrimitive()
box.type = SolidPrimitive.BOX
box.dimensions = list(size)
co.primitives = [box]
co.primitive_poses = [pose.pose]
return co