Cone.hh

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/*
 * Copyright 2024 CogniPilot Foundation
 * Copyright 2024 Open Source Robotics Foundation
 * Copyright 2024 Rudis Laboratories
 *
 * 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_CONE_HH_
#define GZ_MATH_CONE_HH_
 
#include <optional>
#include "gz/math/MassMatrix3.hh"
#include "gz/math/Material.hh"
#include "gz/math/Plane.hh"
#include "gz/math/Quaternion.hh"
 
namespace gz::math
{
  // Forward declarations
  class ConePrivate;
 
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  template<typename Precision>
  class Cone
  {
    public: Cone() = default;
 
    public: Cone(const Precision _length, const Precision _radius,
                 const Quaternion<Precision> &_rotOffset =
                 Quaternion<Precision>::Identity);
 
    public: Cone(const Precision _length, const Precision _radius,
                 const Material &_mat,
                 const Quaternion<Precision> &_rotOffset =
                 Quaternion<Precision>::Identity);
 
    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: std::optional< MassMatrix3<Precision> > MassMatrix() const;
 
    public: bool operator==(const Cone &_cone) 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 Cone<int> Conei;
 
  typedef Cone<double> Coned;
 
  typedef Cone<float> Conef;
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#include "gz/math/detail/Cone.hh"
#endif  // GZ_MATH_CONE_HH_