Gazebo Common

API Reference

5.6.0
gz/common/MaterialDensity.hh
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1 /*
2  * Copyright (C) 2016 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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_COMMON_MATERIALDENSITY_HH_
18 #define GZ_COMMON_MATERIALDENSITY_HH_
19 
20 #include <string>
21 #include <limits>
22 #include <map>
23 #include <tuple>
24 #include "gz/common/Export.hh"
25 
26 namespace gz
27 {
28  namespace common
29  {
31  class GZ_COMMON_VISIBLE MaterialDensity
32  {
36  public: enum class Type
37  {
41  BEGIN = 0,
42 
44  STYROFOAM = BEGIN,
45 
47  PINE,
48 
50  WOOD,
51 
53  OAK,
54 
56  ICE,
57 
59  WATER,
60 
62  PLASTIC,
63 
65  CONCRETE,
66 
68  ALUMINUM,
69 
72 
75 
77  IRON,
78 
80  BRASS,
81 
83  COPPER,
84 
86  TUNGSTEN,
87 
91  END
92  };
93 
96  public: static const std::map<Type, double> &Materials();
97 
102  public: static double Density(const std::string &_material);
103 
107  public: static double Density(const Type _material);
108 
118  const double _value,
119  const double _epsilon = std::numeric_limits<double>::max());
120 
127  public: static Type NearestMaterial(const double _value,
128  const double _epsilon = std::numeric_limits<double>::max());
129 
130 #ifdef _WIN32
131 // Disable warning C4251
132 #pragma warning(push)
133 #pragma warning(disable: 4251)
134 #endif
136  private: static std::map<Type, double> materials;
137 #ifdef _WIN32
138 #pragma warning(pop)
139 #endif
140  };
141  }
142 }
143 #endif