# Ignition Math

## API Reference

6.4.0
OrientedBox< T > Class Template Reference

Mathematical representation of a box which can be arbitrarily positioned and rotated. More...

#include <OrientedBox.hh>

## Public Member Functions

OrientedBox ()
Default constructor. More...

OrientedBox (const Vector3< T > &_size, const Pose3< T > &_pose)
Constructor which takes size and pose. More...

OrientedBox (const Vector3< T > &_size, const Pose3< T > &_pose, const Material &_mat)
Constructor which takes size, pose, and material. More...

OrientedBox (const Vector3< T > &_size)
Constructor which takes only the size. More...

OrientedBox (const Vector3< T > &_size, const Material &_mat)
Constructor which takes only the size. More...

OrientedBox (const OrientedBox< T > &_b)
Copy constructor. More...

virtual ~OrientedBox ()
Destructor. More...

bool Contains (const Vector3d &_p) const
Check if a point lies inside the box. More...

DensityFromMass (const T _mass) const
Compute the box's density given a mass value. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The Material of the box is ignored. More...

bool MassMatrix (MassMatrix3< T > &_massMat) const
Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set. More...

const MaterialMaterial () const
Get the material associated with this box. More...

bool operator!= (const OrientedBox< T > &_b) const
Inequality test operator. More...

OrientedBoxoperator= (const OrientedBox< T > &_b)
Assignment operator. Set this box to the parameter. More...

bool operator== (const OrientedBox< T > &_b) const
Equality test operator. More...

const Pose3< T > & Pose () const
Get the box pose, which is the pose of its center. More...

void Pose (Pose3< T > &_pose)
Set the box pose. More...

bool SetDensityFromMass (const T _mass)
Set the density of this box based on a mass value. Density is computed using double DensityFromMass(const double _mass) const. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true. More...

void SetMaterial (const Material &_mat)
Set the material associated with this box. More...

const Vector3< T > & Size () const
Get the size of the box. More...

void Size (Vector3< T > &_size)
Set the box size. More...

Volume () const
Get the volume of the box in m^3. More...

XLength () const
Get the length along the x dimension. More...

YLength () const
Get the length along the y dimension. More...

ZLength () const
Get the length along the z dimension. More...

## Friends

std::ostreamoperator<< (std::ostream &_out, const OrientedBox< T > &_b)
Output operator. More...

## Detailed Description

### template<typename T> class ignition::math::OrientedBox< T >

Mathematical representation of a box which can be arbitrarily positioned and rotated.

## ◆ OrientedBox() [1/6]

 OrientedBox ( )
inline

Default constructor.

## ◆ OrientedBox() [2/6]

 OrientedBox ( const Vector3< T > & _size, const Pose3< T > & _pose )
inline

Constructor which takes size and pose.

Parameters
 [in] _size Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative. [in] _pose Box pose.

## ◆ OrientedBox() [3/6]

 OrientedBox ( const Vector3< T > & _size, const Pose3< T > & _pose, const Material & _mat )
inline

Constructor which takes size, pose, and material.

Parameters
 [in] _size Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative. [in] _pose Box pose. [in] _mat Material property for the box.

## ◆ OrientedBox() [4/6]

 OrientedBox ( const Vector3< T > & _size )
inlineexplicit

Constructor which takes only the size.

Parameters
 [in] _size Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative.

## ◆ OrientedBox() [5/6]

 OrientedBox ( const Vector3< T > & _size, const Material & _mat )
inlineexplicit

Constructor which takes only the size.

Parameters
 [in] _size Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative. [in] _mat Material property for the box.

## ◆ OrientedBox() [6/6]

 OrientedBox ( const OrientedBox< T > & _b )
inline

Copy constructor.

Parameters
 [in] _b OrientedBox to copy.

## ◆ ~OrientedBox()

 virtual ~OrientedBox ( )
inlinevirtual

Destructor.

## ◆ Contains()

 bool Contains ( const Vector3d & _p ) const
inline

Check if a point lies inside the box.

Parameters
 [in] _p Point to check.
Returns
True if the point is inside the box.

References Vector3< T >::X().

## ◆ DensityFromMass()

 T DensityFromMass ( const T _mass ) const
inline

Compute the box's density given a mass value. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The Material of the box is ignored.

Parameters
 [in] _mass Mass of the box, in kg. This value should be greater than zero.
Returns
Density of the box in kg/m^3. A negative value is returned if the size or _mass is <= 0.

References OrientedBox< T >::Volume().

Referenced by OrientedBox< T >::SetDensityFromMass().

## ◆ MassMatrix()

 bool MassMatrix ( MassMatrix3< T > & _massMat ) const
inline

Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set.

Parameters
 [out] _massMat The computed mass matrix will be stored here.
Returns
False if computation of the mass matrix failed, which could be due to an invalid size (<=0) or density (<=0).

References MassMatrix3< T >::SetFromBox().

## ◆ Material()

 const Material& Material ( ) const
inline

Get the material associated with this box.

Returns
The material assigned to this box.

## ◆ operator!=()

 bool operator!= ( const OrientedBox< T > & _b ) const
inline

Inequality test operator.

Parameters
 [in] _b OrientedBox to test
Returns
True if not equal

## ◆ operator=()

 OrientedBox& operator= ( const OrientedBox< T > & _b )
inline

Assignment operator. Set this box to the parameter.

Parameters
 [in] _b OrientedBox to copy
Returns
The new box.

## ◆ operator==()

 bool operator== ( const OrientedBox< T > & _b ) const
inline

Equality test operator.

Parameters
 [in] _b OrientedBox to test
Returns
True if equal

## ◆ Pose() [1/2]

 const Pose3& Pose ( ) const
inline

Get the box pose, which is the pose of its center.

Returns
The pose of the box.

## ◆ Pose() [2/2]

 void Pose ( Pose3< T > & _pose )
inline

Set the box pose.

Parameters
 [in] _pose Box pose.

## ◆ SetDensityFromMass()

 bool SetDensityFromMass ( const T _mass )
inline

Set the density of this box based on a mass value. Density is computed using double DensityFromMass(const double _mass) const. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true.

Parameters
 [in] _mass Mass of the box, in kg. This value should be greater than zero.
Returns
True if the density was set. False is returned if the box's size or the _mass value are <= 0.
double DensityFromMass(const double _mass) const

References OrientedBox< T >::DensityFromMass(), and Material::SetDensity().

## ◆ SetMaterial()

 void SetMaterial ( const Material & _mat )
inline

Set the material associated with this box.

Parameters
 [in] _mat The material assigned to this box.

## ◆ Size() [1/2]

 const Vector3& Size ( ) const
inline

Get the size of the box.

Returns
Size of the box

## ◆ Size() [2/2]

 void Size ( Vector3< T > & _size )
inline

Set the box size.

Parameters
 [in] _size Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative.

References Vector3< T >::Abs().

## ◆ Volume()

 T Volume ( ) const
inline

Get the volume of the box in m^3.

Returns
Volume of the box in m^3.

Referenced by OrientedBox< T >::DensityFromMass().

## ◆ XLength()

 T XLength ( ) const
inline

Get the length along the x dimension.

Returns
Value of the length in the x dimension

## ◆ YLength()

 T YLength ( ) const
inline

Get the length along the y dimension.

Returns
Value of the length in the y dimension

## ◆ ZLength()

 T ZLength ( ) const
inline

Get the length along the z dimension.

Returns
Value of the length in the z dimension

## ◆ operator<<

 std::ostream& operator<< ( std::ostream & _out, const OrientedBox< T > & _b )
friend

Output operator.

Parameters
 [in] _out Output stream [in] _b OrientedBox to output to the stream
Returns
The stream

The documentation for this class was generated from the following file: