67 lines
2.0 KiB
C++
67 lines
2.0 KiB
C++
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/*
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* Copyright (C) 2015 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_PLUGIN_EVENTS_REGION_HH_
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#define _GAZEBO_PLUGIN_EVENTS_REGION_HH_
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#include <string>
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#include <vector>
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#include <memory>
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#include <sdf/sdf.hh>
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Box.hh"
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namespace gazebo
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{
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/// \brief A region, made of a list of boxes
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class Region
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{
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/// \brief Constructor
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public: Region() = default;
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/// \brief Destructor
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public: virtual ~Region() = default;
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/// \brief Load from a world file (inside a SimEvent plugin element)
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/// \param[in] _sdf The <region> element
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public: void Load(const sdf::ElementPtr &_sdf);
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/// \brief Check if a point lies inside the region
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/// \param[in] _p Point to check
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/// \return True if point is in region
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public: bool Contains(const math::Vector3 &_p) const;
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/// \brief Output operator to print a region to the console.
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/// \param[in] _out The output stream.
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/// \param[in] _region The instance to write out.
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/// \return the stream
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public: friend std::ostream& operator<<(std::ostream &_out,
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const Region &_region);
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/// \brief Name of the region (as defined in the world file)
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public: std::string name;
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/// \brief The list of volumes inside this region
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public: std::vector<math::Box> boxes;
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};
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/// \def RegionPtr
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/// \brief Shared pointer to a region
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typedef std::shared_ptr<Region> RegionPtr;
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}
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#endif
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