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/* Author: Ioan Sucan */
#ifndef GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
#define GEOMETRIC_SHAPES_SHAPE_OPERATIONS_
#include "geometric_shapes/shapes.h"
#include "geometric_shapes/shape_messages.h"
#include "geometric_shapes/mesh_operations.h"
#include <visualization_msgs/Marker.h>
#include <iostream>
namespace shapes
{
/** \brief Construct the shape that corresponds to the message. Return NULL on failure. */
Shape* constructShapeFromMsg(const shape_msgs::SolidPrimitive &shape_msg);
/** \brief Construct the shape that corresponds to the message. Return NULL on failure. */
Shape* constructShapeFromMsg(const shape_msgs::Plane &shape_msg);
/** \brief Construct the shape that corresponds to the message. Return NULL on failure. */
Shape* constructShapeFromMsg(const shape_msgs::Mesh &shape_msg);
/** \brief Construct the shape that corresponds to the message. Return NULL on failure. */
Shape* constructShapeFromMsg(const ShapeMsg &shape_msg);
/** \brief Construct the message that corresponds to the shape. Return false on failure. */
bool constructMsgFromShape(const Shape* shape, ShapeMsg &shape_msg);
/** \brief Construct the marker that corresponds to the shape. Return false on failure. */
bool constructMarkerFromShape(const Shape* shape, visualization_msgs::Marker &mk, bool use_mesh_triangle_list = false);
/** \brief Compute the extents of a shape */
Eigen::Vector3d computeShapeExtents(const ShapeMsg &shape_msg);
/** \brief Compute the extents of a shape */
Eigen::Vector3d computeShapeExtents(const Shape *shape);
/** \brief Compute a sphere bounding a shape */
void computeShapeBoundingSphere(const Shape *shape, Eigen::Vector3d& center, double& radius);
/** \brief Get the string name of the shape */
const std::string& shapeStringName(const Shape *shape);
/** \brief Save all the information about this shape as plain text */
void saveAsText(const Shape *shape, std::ostream &out);
/** \brief Construct a shape from plain text description */
Shape* constructShapeFromText(std::istream &in);
}
#endif
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