103 lines
3.0 KiB
C++
103 lines
3.0 KiB
C++
/*
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* Copyright (C) 2012 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 _GAZEBO_PLANE_HH_
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#define _GAZEBO_PLANE_HH_
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#include <ignition/math/Plane.hh>
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Vector2d.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace math
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{
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/// \addtogroup gazebo_math
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/// \{
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/// \class Plane Plane.hh math/gzmath.hh
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/// \brief A plane and related functions.
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class GZ_MATH_VISIBLE Plane
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{
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/// \brief Constructor
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public: Plane();
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/// \brief Constructor from a normal and a distanec
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/// \param[in] _normal The plane normal
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/// \param[in] _offset Offset along the normal
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public: Plane(const Vector3 &_normal, double _offset = 0.0);
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/// \brief Constructor
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/// \param[in] _normal The plane normal
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/// \param[in] _size Size of the plane
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/// \param[in] _offset Offset along the normal
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public: Plane(const Vector3 &_normal, const Vector2d &_size,
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double _offset);
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/// \brief Copy constructor for ignition::math::Plane
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/// \param[in] _plane Plane to copy
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public: Plane(const ignition::math::Planed &_plane);
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/// \brief Destructor
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public: virtual ~Plane();
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/// \brief Set the plane
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/// \param[in] _normal The plane normal
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/// \param[in] _size Size of the plane
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/// \param[in] _offset Offset along the normal
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public: void Set(const Vector3 &_normal, const Vector2d &_size,
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double offset);
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/// \brief Get distance to the plane give an origin and direction
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/// \param[in] _origin the origin
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/// \param[in] _dir a direction
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/// \return the shortest distance
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public: double Distance(const Vector3 &_origin,
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const Vector3 &_dir) const;
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/// \brief Equal operator
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/// \param _p another plane
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/// \return itself
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public: Plane &operator =(const Plane &_p);
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/// \brief Equal operator for ignition::math::Plane
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/// \param _p Ignition math plane
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/// \return itself
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public: Plane &operator =(const ignition::math::Planed &_p);
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/// \brief Convert this to igntion::math::Planed
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/// \return This plane converted to ignition::math::Planed.
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public: ignition::math::Planed Ign() const;
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/// \brief Plane normal
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public: Vector3 normal;
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/// \brief Plane size
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public: Vector2d size;
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/// \brief Plane offset
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public: double d;
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};
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/// \}
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}
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}
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#endif
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