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include
gz
math
gz/math/Box.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2018 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_MATH_BOX_HH_
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#define GZ_MATH_BOX_HH_
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#include <optional>
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#include <gz/math/config.hh>
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#include <
gz/math/MassMatrix3.hh
>
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#include <
gz/math/Material.hh
>
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#include <
gz/math/Plane.hh
>
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#include <
gz/math/Vector3.hh
>
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#include "gz/math/detail/WellOrderedVector.hh"
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#include <set>
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namespace
gz
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{
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namespace
math
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{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_MATH_VERSION_NAMESPACE {
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template
<
typename
T>
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using
IntersectionPoints
=
std::set<Vector3<T>
, WellOrderedVectors<T>>;
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template
<
typename
Precision>
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class
Box
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{
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public
:
Box
() =
default
;
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public
:
Box
(
const
Precision _length,
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const
Precision _width,
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const
Precision _height);
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public
:
Box
(
const
Precision _length,
const
Precision _width,
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const
Precision _height,
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const
gz::math::Material
&_mat);
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public
:
explicit
Box
(
const
Vector3<Precision>
&_size);
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public
:
Box
(
const
Vector3<Precision>
&_size,
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const
gz::math::Material
&_mat);
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public
:
math::Vector3<Precision>
Size
()
const
;
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public
:
void
SetSize
(
const
math::Vector3<Precision>
&_size);
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public
:
void
SetSize
(
const
Precision _length,
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const
Precision _width,
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const
Precision _height);
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public
:
bool
operator==
(
const
Box<Precision>
&_b)
const
;
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public
:
bool
operator!=
(
const
Box<Precision>
&_b)
const
;
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public
:
const
gz::math::Material
&
Material
()
const
;
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public
:
void
SetMaterial
(
const
gz::math::Material
&_mat);
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public
: Precision
Volume
()
const
;
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public
: Precision
VolumeBelow
(
const
Plane<Precision>
&_plane)
const
;
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public
: std::optional<Vector3<Precision>>
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CenterOfVolumeBelow
(
const
Plane<Precision>
&_plane)
const
;
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public
:
IntersectionPoints<Precision>
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VerticesBelow
(
const
Plane<Precision>
&_plane)
const
;
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public
: Precision
DensityFromMass
(
const
Precision _mass)
const
;
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public
:
bool
SetDensityFromMass
(
const
Precision _mass);
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public
:
bool
MassMatrix
(
MassMatrix3<Precision>
&_massMat)
const
;
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public
: std::optional< MassMatrix3<Precision> >
MassMatrix
()
const
;
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public
:
IntersectionPoints<Precision>
Intersections
(
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const
Plane<Precision>
&_plane)
const
;
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private
:
Vector3<Precision>
size =
Vector3<Precision>::Zero
;
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private
:
gz::math::Material
material;
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};
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typedef
Box<int>
Boxi
;
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typedef
Box<double>
Boxd
;
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typedef
Box<float>
Boxf
;
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}
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}
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}
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#include "gz/math/detail/Box.hh"
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#endif