MaterialDensity.hh
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17 #ifndef _GAZEBO_COMMON_MATERIALDENSITY_HH_
18 #define _GAZEBO_COMMON_MATERIALDENSITY_HH_
19 
20 #include <string>
21 #include <map>
22 #include <tuple>
23 #include <ignition/math/Helpers.hh>
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace common
29  {
33  enum class MaterialType
34  {
38  BEGIN = 0,
39 
41  STYROFOAM = BEGIN,
42 
44  PINE,
45 
47  WOOD,
48 
50  OAK,
51 
53  ICE,
54 
56  WATER,
57 
59  PLASTIC,
60 
62  CONCRETE,
63 
65  ALUMINUM,
66 
69 
72 
74  IRON,
75 
77  BRASS,
78 
80  COPPER,
81 
83  TUNGSTEN,
84 
88  END
89  };
90 
92  class GZ_COMMON_VISIBLE MaterialDensity
93  {
96  public: static const std::map<MaterialType, double> &Materials();
97 
102  public: static double Density(const std::string &_material);
103 
107  public: static double Density(const MaterialType _material);
108 
117  public: static std::tuple<MaterialType, double> Nearest(
118  const double _value,
119  const double _epsilon = IGN_DBL_MAX);
120 
127  public: static MaterialType NearestMaterial(const double _value,
128  const double _epsilon = IGN_DBL_MAX);
129 
131  private: static std::map<MaterialType, double> materials;
132  };
133  }
134 }
135 #endif
Aluminum, density = 2700.0 kg/m^3.
Oak, density = 710.0 kg/m^3.
Plastic, density = 1175.0 kg/m^3.
Forward declarations for the common classes.
Definition: Animation.hh:33
MaterialType
Types of materials.
Definition: MaterialDensity.hh:33
Water, density = 1000.0 kg/m^3.
Encapsulates density types.
Definition: MaterialDensity.hh:92
Iron, density = 7870.0 kg/m^3.
Concrete, density = 2000.0 kg/m^3.
Steel alloy, density = 7600.0 kg/m^3.
Ice, density = 916.0 kg/m^3.
Copper, density = 8940.0 kg/m^3.
Tungsten, density = 19300.0 kg/m^3.
Brass, density = 8600.0 kg/m^3.
Stainless steel, density = 7800.0 kg/m^3.
Styrofoam, density = 75.0 kg/m^3.
Pine, density = 373.0 kg/m^3.
Wood, density = 700.0 kg/m^3.