Ellipsoid.hh

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/*
 * Copyright (C) 2020 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.
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*/
#ifndef GZ_MATH_ELLIPSOID_HH_
#define GZ_MATH_ELLIPSOID_HH_
 
#include <optional>
#include "gz/math/MassMatrix3.hh"
#include "gz/math/Material.hh"
#include "gz/math/Plane.hh"
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  template<typename Precision>
  class Ellipsoid
  {
    public: Ellipsoid() = default;
 
    public: explicit Ellipsoid(const Vector3<Precision> &_radii);
 
    public: Ellipsoid(const Vector3<Precision> &_radii,
                const Material &_mat);
 
    public: Vector3<Precision> Radii() const;
 
    public: void SetRadii(const Vector3<Precision> &_radii);
 
    public: const Material &Mat() const;
 
    public: void SetMat(const Material &_mat);
 
    public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
 
    public: bool operator==(const Ellipsoid &_ellipsoid) 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: Vector3<Precision> radii = Vector3<Precision>::Zero;
 
    private: Material material;
  };
 
  typedef Ellipsoid<int> Ellipsoidi;
 
  typedef Ellipsoid<double> Ellipsoidd;
 
  typedef Ellipsoid<float> Ellipsoidf;
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#include "gz/math/detail/Ellipsoid.hh"
#endif  // GZ_MATH_ELLIPSOID_HH_