Allow viz::Box to be set to / constructed from simox::OrientedBoxBase

source/RobotAPI/components/ArViz/Client/Elements.h

@@ -6,6 +6,7 @@
 #include <SimoxUtility/math/normal/normal_to_mat4.h>
 #include <SimoxUtility/math/convert/rpy_to_mat3f.h>
 #include <SimoxUtility/math/pose/transform.h>
+#include <SimoxUtility/shapes/OrientedBoxBase.h>
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
@@ -69,6 +70,32 @@ namespace armarx::viz
         {
             return size(Eigen::Vector3f(s, s, s));
         }
+
+        Box& set(const simox::OrientedBoxBase<float>& b)
+        {
+            size(b.dimensions());
+            return pose(b.transformation_centered());
+        }
+        Box& set(const simox::OrientedBoxBase<double>& b)
+        {
+            size(b.dimensions<float>());
+            return pose(b.transformation_centered<float>());
+        }
+
+        template<class T>
+        Box(const std::string& name, const simox::OrientedBoxBase<T>& b)
+            : ElementOps(name)
+        {
+            set(b);
+        }
+
+        template<class T>
+        Box(
+            const simox::OrientedBoxBase<T>& b,
+            const std::string& name = std::to_string(std::chrono::high_resolution_clock::now().time_since_epoch().count())
+        )
+            : Box(name, b)
+        {}
     };
 
     class Cylinder : public ElementOps<Cylinder, data::ElementCylinder>