Box.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_BOX_HH_
#define GZ_MATH_BOX_HH_
 
#include <optional>
#include <gz/math/config.hh>
#include <gz/math/MassMatrix3.hh>
#include <gz/math/Material.hh>
#include <gz/math/Plane.hh>
#include <gz/math/Vector3.hh>
 
#include "gz/math/detail/WellOrderedVector.hh"
 
#include <set>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  template<typename T>
  using IntersectionPoints = std::set<Vector3<T>, WellOrderedVectors<T>>;
 
  template<typename Precision>
  class Box
  {
    public: Box() = default;
 
    public: Box(const Precision _length,
                const Precision _width,
                const Precision _height);
 
    public: Box(const Precision _length, const Precision _width,
                const Precision _height,
                const gz::math::Material &_mat);
 
    public: explicit Box(const Vector3<Precision> &_size);
 
    public: Box(const Vector3<Precision> &_size,
                const gz::math::Material &_mat);
 
    public: math::Vector3<Precision> Size() const;
 
    public: void SetSize(const math::Vector3<Precision> &_size);
 
    public: void SetSize(const Precision _length,
                         const Precision _width,
                         const Precision _height);
 
    public: bool operator==(const Box<Precision> &_b) const;
 
    public: bool operator!=(const Box<Precision> &_b) const;
 
    public: const gz::math::Material &Material() const;
 
    public: void SetMaterial(const gz::math::Material &_mat);
 
    public: Precision Volume() const;
 
    public: Precision VolumeBelow(const Plane<Precision> &_plane) const;
 
    public: std::optional<Vector3<Precision>>
      CenterOfVolumeBelow(const Plane<Precision> &_plane) const;
 
    public: IntersectionPoints<Precision>
      VerticesBelow(const Plane<Precision> &_plane) const;
 
    public: Precision DensityFromMass(const Precision _mass) const;
 
    public: bool SetDensityFromMass(const Precision _mass);
 
    public: bool MassMatrix(MassMatrix3<Precision> &_massMat) const;
 
    public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
 
    public: IntersectionPoints<Precision> Intersections(
      const Plane<Precision> &_plane) const;
 
    private: Vector3<Precision> size = Vector3<Precision>::Zero;
 
    private: gz::math::Material material;
  };
 
  typedef Box<int> Boxi;
 
  typedef Box<double> Boxd;
 
  typedef Box<float> Boxf;
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#include "gz/math/detail/Box.hh"
#endif  // GZ_MATH_BOX_HH_