67 lines
2.0 KiB
C++
67 lines
2.0 KiB
C++
/*
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
#ifndef _GAZEBO_PLUGIN_EVENTS_REGION_HH_
|
|
#define _GAZEBO_PLUGIN_EVENTS_REGION_HH_
|
|
|
|
#include <string>
|
|
#include <vector>
|
|
#include <memory>
|
|
|
|
#include <sdf/sdf.hh>
|
|
#include "gazebo/math/Vector3.hh"
|
|
#include "gazebo/math/Box.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
/// \brief A region, made of a list of boxes
|
|
class Region
|
|
{
|
|
/// \brief Constructor
|
|
public: Region() = default;
|
|
|
|
/// \brief Destructor
|
|
public: virtual ~Region() = default;
|
|
|
|
/// \brief Load from a world file (inside a SimEvent plugin element)
|
|
/// \param[in] _sdf The <region> element
|
|
public: void Load(const sdf::ElementPtr &_sdf);
|
|
|
|
/// \brief Check if a point lies inside the region
|
|
/// \param[in] _p Point to check
|
|
/// \return True if point is in region
|
|
public: bool Contains(const math::Vector3 &_p) const;
|
|
|
|
/// \brief Output operator to print a region to the console.
|
|
/// \param[in] _out The output stream.
|
|
/// \param[in] _region The instance to write out.
|
|
/// \return the stream
|
|
public: friend std::ostream& operator<<(std::ostream &_out,
|
|
const Region &_region);
|
|
|
|
/// \brief Name of the region (as defined in the world file)
|
|
public: std::string name;
|
|
|
|
/// \brief The list of volumes inside this region
|
|
public: std::vector<math::Box> boxes;
|
|
};
|
|
|
|
/// \def RegionPtr
|
|
/// \brief Shared pointer to a region
|
|
typedef std::shared_ptr<Region> RegionPtr;
|
|
}
|
|
#endif
|