59 lines
1.6 KiB
C++
59 lines
1.6 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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#include <gazebo/common/Console.hh>
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#include "plugins/events/Region.hh"
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using namespace gazebo;
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////////////////////////////////////////////////////////////////////////////////
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bool Region::Contains(const math::Vector3 &_p) const
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{
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for (auto v: this->boxes)
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{
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if (v.Contains(_p))
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{
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return true;
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}
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}
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return false;
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}
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////////////////////////////////////////////////////////////////////////////////
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void Region::Load(const sdf::ElementPtr &_sdf)
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{
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sdf::ElementPtr child = _sdf->GetFirstElement();
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while (child)
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{
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std::string ename = child->GetName();
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if (ename == "volume")
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{
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this->boxes.push_back(math::Box(child->Get<math::Vector3>("min"),
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child->Get<math::Vector3>("max")));
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}
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else if (ename == "name")
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{
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this->name = child->Get<std::string>();
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}
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else
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{
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gzwarn << "Unexpected element \"" + ename + "\" in Region element.";
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}
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child = child->GetNextElement();
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}
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}
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