Ellipsoid.hh

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/*
 * Copyright (C) 2020 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_MATH_ELLIPSOID_HH_
#define IGNITION_MATH_ELLIPSOID_HH_

#include <optional>
#include "ignition/math/MassMatrix3.hh"
#include "ignition/math/Material.hh"

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    template<typename Precision>
    class Ellipsoid
    {
      public: Ellipsoid() = default;

      public: explicit Ellipsoid(const Vector3<Precision> &_radii);

      public: Ellipsoid(const Vector3<Precision> &_radii,
                  const Material &_mat);

      public: Vector3<Precision> Radii() const;

      public: void SetRadii(const Vector3<Precision> &_radii);

      public: const Material &Mat() const;

      public: void SetMat(const Material &_mat);

      public: std::optional< MassMatrix3<Precision> > MassMatrix() const;

      public: bool operator==(const Ellipsoid &_ellipsoid) const;

      public: Precision Volume() const;

      public: Precision DensityFromMass(const Precision _mass) const;

      public: bool SetDensityFromMass(const Precision _mass);

      private: Vector3<Precision> radii = Vector3<Precision>::Zero;

      private: Material material;
    };

    typedef Ellipsoid<int> Ellipsoidi;

    typedef Ellipsoid<double> Ellipsoidd;

    typedef Ellipsoid<float> Ellipsoidf;
    }
  }
}
#include "ignition/math/detail/Ellipsoid.hh"

#endif