Gazebo Math
API Reference
7.4.0
insert_drive_file
Tutorials
library_books
Classes
toc
Namespaces
insert_drive_file
Files
launch
Gazebo Website
Index
List
Hierarchy
Members: All
Members: Functions
Members: Variables
Members: Typedefs
Members: Enumerations
Members: Enumerator
List
Members
Functions
Typedefs
Variables
Enumerations
Enumerator
include
gz
math
gz/math/Sphere.hh
Go to the documentation of this file.
1
/*
2
* Copyright (C) 2018 Open Source Robotics Foundation
3
*
4
* Licensed under the Apache License, Version 2.0 (the "License");
5
* you may not use this file except in compliance with the License.
6
* You may obtain a copy of the License at
7
*
8
* http://www.apache.org/licenses/LICENSE-2.0
9
*
10
* Unless required by applicable law or agreed to in writing, software
11
* distributed under the License is distributed on an "AS IS" BASIS,
12
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13
* See the License for the specific language governing permissions and
14
* limitations under the License.
15
*
16
*/
17
#ifndef GZ_MATH_SPHERE_HH_
18
#define GZ_MATH_SPHERE_HH_
19
20
#include <optional>
21
#include "
gz/math/MassMatrix3.hh
"
22
#include "
gz/math/Material.hh
"
23
#include "
gz/math/Quaternion.hh
"
24
#include "
gz/math/Plane.hh
"
25
26
namespace
gz
27
{
28
namespace
math
29
{
30
// Foward declarations
31
class
SpherePrivate;
32
33
// Inline bracket to help doxygen filtering.
34
inline
namespace
GZ_MATH_VERSION_NAMESPACE {
35
//
42
template
<
typename
Precision>
43
class
Sphere
44
{
46
public
:
Sphere
() =
default
;
47
50
public
:
explicit
Sphere
(
const
Precision _radius);
51
55
public
:
Sphere
(
const
Precision _radius,
const
Material
&_mat);
56
59
public
: Precision
Radius
()
const
;
60
63
public
:
void
SetRadius
(
const
Precision _radius);
64
67
public
:
const
gz::math::Material
&
Material
()
const
;
68
71
public
:
void
SetMaterial
(
const
gz::math::Material
&_mat);
72
79
public
:
bool
MassMatrix
(
MassMatrix3d
&_massMat)
const
;
80
86
public
: std::optional< MassMatrix3<Precision> >
MassMatrix
()
const
;
87
90
public
:
bool
operator==
(
const
Sphere
&_sphere)
const
;
91
94
public
:
bool
operator!=
(
const
Sphere
&_sphere)
const
;
95
98
public
: Precision
Volume
()
const
;
99
105
public
: Precision
VolumeBelow
(
const
Plane<Precision>
&_plane)
const
;
106
114
public
: std::optional<Vector3<Precision>>
115
CenterOfVolumeBelow
(
const
Plane<Precision>
&_plane)
const
;
116
125
public
: Precision
DensityFromMass
(
const
Precision _mass)
const
;
126
139
public
:
bool
SetDensityFromMass
(
const
Precision _mass);
140
142
private
: Precision radius = 0.0;
143
145
private
:
gz::math::Material
material;
146
};
147
150
typedef
Sphere<int>
Spherei
;
151
154
typedef
Sphere<double>
Sphered
;
155
158
typedef
Sphere<float>
Spheref
;
159
}
160
}
161
}
162
#include "gz/math/detail/Sphere.hh"
163
164
#endif