gz/math/Cylinder.hh

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/*
 * Copyright (C) 2018 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 GZ_MATH_CYLINDER_HH_
#define GZ_MATH_CYLINDER_HH_
 
#include <optional>
#include "gz/math/MassMatrix3.hh"
#include "gz/math/Material.hh"
#include "gz/math/Plane.hh"
#include "gz/math/Quaternion.hh"
 
namespace ignition
{
  namespace math
  {
    // Foward declarations
    class CylinderPrivate;
 
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    template<typename Precision>
    class Cylinder
    {
      public: Cylinder() = default;
 
      public: Cylinder(const Precision _length, const Precision _radius,
                  const Quaternion<Precision> &_rotOffset =
                  Quaternion<Precision>::Identity);
 
      public: Cylinder(const Precision _length, const Precision _radius,
                  const Material &_mat,
                  const Quaternion<Precision> &_rotOffset =
                  Quaternion<Precision>::Identity);
 
      public: ~Cylinder() = default;
 
      public: Precision Radius() const;
 
      public: void SetRadius(const Precision _radius);
 
      public: Precision Length() const;
 
      public: void SetLength(const Precision _length);
 
      public: Quaternion<Precision> RotationalOffset() const;
 
      public: void SetRotationalOffset(
                  const Quaternion<Precision> &_rotOffset);
 
      public: const Material &Mat() const;
 
      public: void SetMat(const Material &_mat);
 
      public: bool MassMatrix(MassMatrix3d &_massMat) const;
 
      public: bool operator==(const Cylinder &_cylinder) const;
 
      public: Precision Volume() const;
 
      public: Precision VolumeBelow(const Plane<Precision> &_plane) const;
 
      public: std::optional<Vector3<Precision>>
        CenterOfVolumeBelow(const Plane<Precision> &_plane) const;
 
      public: Vector3<Precision> Centroid() const;
 
      public: Precision DensityFromMass(const Precision _mass) const;
 
      public: bool SetDensityFromMass(const Precision _mass);
 
      private: Precision radius = 0.0;
 
      private: Precision length = 0.0;
 
      private: Material material;
 
      private: Quaternion<Precision> rotOffset =
               Quaternion<Precision>::Identity;
    };
 
    typedef Cylinder<int> Cylinderi;
 
    typedef Cylinder<double> Cylinderd;
 
    typedef Cylinder<float> Cylinderf;
    }
  }
}
#include "gz/math/detail/Cylinder.hh"
 
#endif