Gazebo Math

API Reference

7.5.1
gz/math/Frustum.hh
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1 /*
2  * Copyright (C) 2015 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_MATH_FRUSTUM_HH_
18 #define GZ_MATH_FRUSTUM_HH_
19 
20 #include <gz/math/Angle.hh>
22 #include <gz/math/Plane.hh>
23 #include <gz/math/Pose3.hh>
24 #include <gz/math/config.hh>
25 #include <gz/utils/ImplPtr.hh>
26 
27 namespace gz::math
28 {
29  // Inline bracket to help doxygen filtering.
30  inline namespace GZ_MATH_VERSION_NAMESPACE {
31 
34  class GZ_MATH_VISIBLE Frustum
35  {
37  public: enum FrustumPlane
38  {
40  FRUSTUM_PLANE_NEAR = 0,
41 
43  FRUSTUM_PLANE_FAR = 1,
44 
46  FRUSTUM_PLANE_LEFT = 2,
47 
49  FRUSTUM_PLANE_RIGHT = 3,
50 
52  FRUSTUM_PLANE_TOP = 4,
53 
55  FRUSTUM_PLANE_BOTTOM = 5
56  };
57 
65  public: Frustum();
66 
79  public: Frustum(double _near,
80  double _far,
81  const math::Angle &_fov,
82  double _aspectRatio,
83  const math::Pose3d &_pose = math::Pose3d::Zero);
84 
89  public: double Near() const;
90 
95  public: void SetNear(double _near);
96 
101  public: double Far() const;
102 
107  public: void SetFar(double _far);
108 
114  public: math::Angle FOV() const;
115 
121  public: void SetFOV(const math::Angle &_fov);
122 
127  public: double AspectRatio() const;
128 
133  public: void SetAspectRatio(double _aspectRatio);
134 
138  public: Planed Plane(const FrustumPlane _plane) const;
139 
143  public: bool Contains(const AxisAlignedBox &_b) const;
144 
148  public: bool Contains(const Vector3d &_p) const;
149 
153  public: Pose3d Pose() const;
154 
158  public: void SetPose(const Pose3d &_pose);
159 
162  private: void ComputePlanes();
163 
165  GZ_UTILS_IMPL_PTR(dataPtr)
166  };
167  } // GZ_MATH_VERSION_NAMESPACE
168 } // namespace gz::math
169 #endif // GZ_MATH_FRUSTUM_HH_