154 lines
4.7 KiB
C++
154 lines
4.7 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_BOX_HH_
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#define _GAZEBO_BOX_HH_
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#include <iostream>
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#include <ignition/math/Box.hh>
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#include "gazebo/math/Vector3.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 Box Box.hh math/gzmath.hh
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/// \brief Mathematical representation of a box and related functions.
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class GZ_MATH_VISIBLE Box
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{
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/// \brief Default constructor
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public: Box();
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/// \brief Constructor. This constructor will compute the box's
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/// minumum and maximum corners based on the two arguments.
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/// \param[in] _vec1 One corner of the box
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/// \param[in] _vec2 Another corner of the box
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public: Box(const Vector3 &_vec1, const Vector3 &_vec2);
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/// \brief Ignition math copy constructor
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/// \param[in] _box Ignition box to convert
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public: Box(const ignition::math::Box &_box);
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/// \brief Copy Constructor
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/// \param[in] _b Box to copy
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public: Box(const Box &_b);
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/// \brief Destructor
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public: virtual ~Box();
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/// \brief Get the length along the x dimension
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/// \return Double value of the length in the x dimension
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public: double GetXLength() const;
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/// \brief Get the length along the y dimension
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/// \return Double value of the length in the y dimension
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public: double GetYLength() const;
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/// \brief Get the length along the z dimension
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/// \return Double value of the length in the z dimension
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public: double GetZLength() const;
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/// \brief Get the size of the box
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/// \return Size of the box
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public: math::Vector3 GetSize() const;
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/// \brief Get the box center
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/// \return The center position of the box
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public: math::Vector3 GetCenter() const;
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/// \brief Merge a box with this box
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/// \param[in] _box Box to add to this box
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public: void Merge(const Box &_box);
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/// \brief Convert this box to an ignition::math::Box.
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/// \return This Box as an ignition::math::Box.
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public: ignition::math::Box Ign() const;
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/// \brief Assignment operator for ignition math
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/// \param[in] _b a new value
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/// \return The new box
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public: Box &operator=(const ignition::math::Box &_b);
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/// \brief Assignment operator. Set this box to the parameter
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/// \param[in] _b Box to copy
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/// \return The new box.
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public: Box &operator =(const Box &_b);
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/// \brief Addition operator. result = this + _b
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/// \param[in] _b Box to add
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/// \return The new box
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public: Box operator+(const Box &_b) const;
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/// \brief Addition set operator. this = this + _b
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/// \param[in] _b Box to add
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/// \return This new box
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public: const Box &operator+=(const Box &_b);
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/// \brief Equality test operatoer
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/// \param[in] _b Box to test
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/// \return True if equal
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public: bool operator==(const Box &_b) const;
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/// \brief Subtract a vector from the min and max values
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/// \param _v The vector to use during subtraction
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/// \return The new box
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public: Box operator-(const Vector3 &_v);
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/// \brief Check if a point lies inside or on the box.
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/// \param[in] _p Point to check.
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/// \return True if the point is inside or on the box.
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public: bool Contains(const math::Vector3 &_p) const;
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/// \brief Output operator
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/// \param[in] _out Output stream
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/// \param[in] _b Box to output to the stream
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/// \return The stream
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public: friend std::ostream &operator<<(std::ostream &_out,
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const gazebo::math::Box &_b)
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{
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_out << "Min[" << _b.min << "] Max[" << _b.max << "]";
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return _out;
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}
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/// \brief Minimum corner of the box
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public: Vector3 min;
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/// \brief Maximum corner of the box
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public: Vector3 max;
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/// \brief Enumeration of extents
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private: enum Extent {EXTENT_NULL, EXTENT_FINITE};
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/// \brief When set to EXTENT_NULL (in the default constructor)
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/// the min and max are not valid positions
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private: Extent extent;
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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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