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Adding cone primitives. (#621)
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Adding cone primitives to gazebo.

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
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bperseghetti authored Jun 14, 2024
1 parent 13775fa commit 12b4dd0
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Showing 2 changed files with 9 additions and 0 deletions.
2 changes: 2 additions & 0 deletions src/plugins/marker_manager/MarkerManager.cc
Original file line number Diff line number Diff line change
Expand Up @@ -611,6 +611,8 @@ MarkerManager::Implementation::MsgToType(const gz::msgs::Marker &_msg)
return gz::rendering::MarkerType::MT_BOX;
case gz::msgs::Marker::CAPSULE:
return gz::rendering::MarkerType::MT_CAPSULE;
case gz::msgs::Marker::CONE:
return gz::rendering::MarkerType::MT_CONE;
case gz::msgs::Marker::CYLINDER:
return gz::rendering::MarkerType::MT_CYLINDER;
case gz::msgs::Marker::LINE_STRIP:
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7 changes: 7 additions & 0 deletions src/plugins/transport_scene_manager/TransportSceneManager.cc
Original file line number Diff line number Diff line change
Expand Up @@ -689,6 +689,13 @@ rendering::GeometryPtr TransportSceneManager::Implementation::LoadGeometry(
if (_msg.box().has_size())
scale = msgs::Convert(_msg.box().size());
}
else if (_msg.has_cone())
{
geom = this->scene->CreateCone();
scale.X() = _msg.cone().radius() * 2;
scale.Y() = scale.X();
scale.Z() = _msg.cone().length();
}
else if (_msg.has_cylinder())
{
geom = this->scene->CreateCylinder();
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