void processCollisionGeometryForBoundingBox(const object_manipulation_msgs::ClusterBoundingBox &box,
std::string &collision_name)
{
ROS_INFO("Adding bounding box with dimensions %f %f %f to collision map",
box.dimensions.x, box.dimensions.y, box.dimensions.z);
arm_navigation_msgs::CollisionObject collision_object;
collision_object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD;
collision_name = getNextObjectName();
collision_object.id = collision_name;
collision_object.header.frame_id = box.pose_stamped.header.frame_id;
collision_object.header.stamp = ros::Time::now();
arm_navigation_msgs::Shape shape;
shape.type = arm_navigation_msgs::Shape::BOX;
shape.dimensions.resize(3);
shape.dimensions[0] = box.dimensions.x;
shape.dimensions[1] = box.dimensions.y;
shape.dimensions[2] = box.dimensions.z;
collision_object.shapes.push_back(shape);
collision_object.poses.push_back(box.pose_stamped.pose);
collision_object_pub_.publish(collision_object);
}
Object* ObjectsPool::addObjectbyName(const string& obj, Sint16 x, Sint16 y, const ParameterMap& objparam, bool outside) {
ParameterMap parameters;
if (hasParam(objparam,"file")) {
parameters=getFileParameters(objparam.find("file")->second);
ParameterMap::const_iterator it=objparam.begin();
while (it!=objparam.end()) {
if (it->first!="file") parameters[it->first]=it->second;
++it;
}
} else {
parameters=objparam;
}
//Set names...
if (!hasParam(parameters,"name")) parameters["name"]=getNextObjectName(obj);
if (obj=="Wall") return (addObject(new Wall(x,y,parameters), outside));
else if (obj=="Exit") return (addObject(new Exit(x,y,parameters), outside));
else if (obj=="Water") return (addObject(new Water(x,y,parameters), outside));
else if (obj=="Teleporter") return (addObject(new Teleporter(x,y,parameters), outside));
else if (obj=="Wind") return (addObject(new Wind(x,y,parameters), outside));
else if (obj=="Geyser") return (addObject(new Geyser(x,y,parameters), outside));
else if (obj=="Trigger") return (addObject(new Trigger(x,y,parameters), outside));
else if (obj=="Door") return (addObject(new Door(x,y,parameters), outside));
else if (obj=="Spike") return (addObject(new Spike(x,y,parameters), outside));
else if (obj=="Heart") return (addObject(new Heart(x,y,parameters), outside));
else if (obj=="Key") return (addObject(new Key(x,y,parameters), outside));
else if (obj=="Bomb") return (addObject(new Bomb(x,y,parameters), outside));
else if (obj=="TriggeredBomb") return (addObject(new TriggeredBomb(x,y,parameters), outside));
else if (obj=="DeadPlayer") return (addObject(new DeadPlayer(x,y,parameters), outside));
else if (obj=="Erik") return (addObject(new Erik(x,y,parameters), outside));
else if (obj=="Olaf") return (addObject(new Olaf(x,y,parameters), outside));
else if (obj=="Baleog") return (addObject(new Baleog(x,y,parameters), outside));
else if (obj=="Fang") return (addObject(new Fang(x,y,parameters), outside));
else if (obj=="Scorch") return (addObject(new Scorch(x,y,parameters), outside));
else if (obj=="Plant") return (addObject(new Plant(x,y,parameters), outside));
else if (obj=="Zombie") return (addObject(new Zombie(x,y,parameters), outside));
else {
cout << "Object " << obj << " unknown, skipping...\n";
return NULL;
}
}
