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/* Author: Ioan Sucan, E. Gil Jones */
#ifndef GEOMETRIC_SHAPES_BODY_OPERATIONS_
#define GEOMETRIC_SHAPES_BODY_OPERATIONS_
#include "geometric_shapes/shapes.h"
#include "geometric_shapes/bodies.h"
#include "geometric_shapes/shape_messages.h"
#include <geometry_msgs/Pose.h>
#include <vector>
namespace bodies
{
/** \brief Create a body from a given shape */
Body* createBodyFromShape(const shapes::Shape *shape);
/** \brief Create a body from a given shape */
Body* constructBodyFromMsg(const shape_msgs::Mesh &shape, const geometry_msgs::Pose &pose);
/** \brief Create a body from a given shape */
Body* constructBodyFromMsg(const shape_msgs::SolidPrimitive &shape, const geometry_msgs::Pose &pose);
/** \brief Create a body from a given shape */
Body* constructBodyFromMsg(const shapes::ShapeMsg &shape, const geometry_msgs::Pose &pose);
/** \brief Compute a bounding sphere to enclose a set of bounding spheres */
void mergeBoundingSpheres(const std::vector<BoundingSphere> &spheres, BoundingSphere &mergedSphere);
/** \brief Compute the bounding sphere for a set of \e bodies and store the resulting sphere in \e mergedSphere */
void computeBoundingSphere(const std::vector<const Body*>& bodies, BoundingSphere &mergedSphere);
}
#endif
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