Gazebo Math

API Reference

7.4.0
gz/math/Ellipsoid.hh
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1/*
2 * Copyright (C) 2020 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_ELLIPSOID_HH_
18#define GZ_MATH_ELLIPSOID_HH_
19
20#include <optional>
22#include "gz/math/Material.hh"
23
24namespace gz
25{
26 namespace math
27 {
28 // Inline bracket to help doxygen filtering.
29 inline namespace GZ_MATH_VERSION_NAMESPACE {
30 //
38 template<typename Precision>
40 {
43 public: Ellipsoid() = default;
44
47 public: explicit Ellipsoid(const Vector3<Precision> &_radii);
48
52 public: Ellipsoid(const Vector3<Precision> &_radii,
53 const Material &_mat);
54
57 public: Vector3<Precision> Radii() const;
58
61 public: void SetRadii(const Vector3<Precision> &_radii);
62
65 public: const Material &Mat() const;
66
69 public: void SetMat(const Material &_mat);
70
77 public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
78
81 public: bool operator==(const Ellipsoid &_ellipsoid) const;
82
85 public: Precision Volume() const;
86
95 public: Precision DensityFromMass(const Precision _mass) const;
96
109 public: bool SetDensityFromMass(const Precision _mass);
110
113
115 private: Material material;
116 };
117
121
125
129 }
130 }
131}
132#include "gz/math/detail/Ellipsoid.hh"
133
134#endif