def from_msg(cls, msg):
kwargs = {}
kwargs['header'] = Header.from_msg(msg['header'])
kwargs['id'] = msg['id']
kwargs['type'] = ObjectType.from_msg(msg['type'])
kwargs['pose'] = Pose.from_msg(
msg['pose']) if 'pose' in msg else Pose()
kwargs['primitives'] = [
SolidPrimitive.from_msg(i) for i in msg['primitives']
]
kwargs['primitive_poses'] = [
Pose.from_msg(i) for i in msg['primitive_poses']
]
kwargs['meshes'] = [Mesh.from_msg(i) for i in msg['meshes']]
kwargs['mesh_poses'] = [Pose.from_msg(i) for i in msg['mesh_poses']]
kwargs['planes'] = [Plane.from_msg(i) for i in msg['planes']]
kwargs['plane_poses'] = [
Pose.from_frame(i) for i in msg['plane_poses']
]
kwargs['operation'] = msg['operation']
return cls(**kwargs)
def from_collision_mesh(cls, collision_mesh):
"""Creates a collision object from a :class:`compas_fab.robots.CollisionMesh`
"""
kwargs = {}
kwargs['header'] = Header(frame_id=collision_mesh.root_name)
kwargs['id'] = collision_mesh.id
kwargs['meshes'] = [Mesh.from_mesh(collision_mesh.mesh)]
kwargs['mesh_poses'] = [Pose.from_frame(collision_mesh.frame)]
return cls(**kwargs)
def from_box(cls, box):
"""Creates a `BoundingVolume` from a :class:`compas.geometry.Box`.
Parameters
----------
box: `compas.geometry.Box`
"""
primitive = SolidPrimitive.from_box(box)
pose = Pose.from_frame(box.frame)
return cls(primitives=[primitive], primitive_poses=[pose])