Plane.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef _GAZEBO_PLANE_HH_
18 #define _GAZEBO_PLANE_HH_
19 
20 #include <ignition/math/Plane.hh>
21 
22 #include "gazebo/math/Vector3.hh"
23 #include "gazebo/math/Vector2d.hh"
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace math
29  {
32 
35  class GZ_MATH_VISIBLE Plane
36  {
39  public: Plane() GAZEBO_DEPRECATED(8.0);
40 
45  public: Plane(const Vector3 &_normal, double _offset = 0.0)
46  GAZEBO_DEPRECATED(8.0);
47 
53  public: Plane(const Vector3 &_normal, const Vector2d &_size,
54  double _offset) GAZEBO_DEPRECATED(8.0);
55 
59  public: Plane(const ignition::math::Planed &_plane)
60  GAZEBO_DEPRECATED(8.0);
61 
63  public: virtual ~Plane();
64 
69  public: void Set(const Vector3 &_normal, const Vector2d &_size,
70  double offset);
71 
76  public: double Distance(const Vector3 &_origin,
77  const Vector3 &_dir) const;
78 
82  public: Plane &operator =(const Plane &_p);
83 
87  public: Plane &operator =(const ignition::math::Planed &_p);
88 
91  public: ignition::math::Planed Ign() const;
92 
94  public: Vector3 normal;
95 
97  public: Vector2d size;
98 
100  public: double d;
101  };
103  }
104 }
105 #endif
106 
107 
108 
double d
Plane offset.
Definition: Plane.hh:100
Forward declarations for the common classes.
Definition: Animation.hh:33
Generic double x, y vector.
Definition: Vector2d.hh:36
Vector3 normal
Plane normal.
Definition: Plane.hh:94
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
static const double GAZEBO_DEPRECATED(8.0) MAX_D
Double maximum value. This value will be similar to 1.79769e+308.
Definition: Helpers.hh:140
A plane and related functions.
Definition: Plane.hh:35
GAZEBO_VISIBLE void Set(common::Image &_img, const msgs::Image &_msg)
Convert a msgs::Image to a common::Image.
Vector2d size
Plane size.
Definition: Plane.hh:97