OrientedBox.hh

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/*
 * Copyright (C) 2017 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_ORIENTEDBOX_HH_
#define GZ_MATH_ORIENTEDBOX_HH_
 
#include <ostream>
#include <gz/math/Helpers.hh>
#include <gz/math/MassMatrix3.hh>
#include <gz/math/Material.hh>
#include <gz/math/Matrix4.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/config.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  template<typename T>
  class OrientedBox
  {
    public: OrientedBox() : size(Vector3<T>::Zero), pose(Pose3<T>::Zero)
    {
    }
 
    public: OrientedBox(const Vector3<T> &_size, const Pose3<T> &_pose)
        : size(_size.Abs()), pose(_pose)
    {
    }
 
    public: OrientedBox(const Vector3<T> &_size, const Pose3<T> &_pose,
                const Material &_mat)
        : size(_size.Abs()), pose(_pose), material(_mat)
    {
    }
 
    public: explicit OrientedBox(const Vector3<T> &_size)
        : size(_size.Abs()), pose(Pose3<T>::Zero)
    {
    }
 
    public: explicit OrientedBox(const Vector3<T> &_size,
                                 const Material &_mat)
        : size(_size.Abs()), pose(Pose3<T>::Zero), material(_mat)
    {
    }
 
    public: T XLength() const
    {
      return this->size.X();
    }
 
    public: T YLength() const
    {
      return this->size.Y();
    }
 
    public: T ZLength() const
    {
      return this->size.Z();
    }
 
    public: const Vector3<T> &Size() const
    {
      return this->size;
    }
 
    public: const Pose3<T> &Pose() const
    {
      return this->pose;
    }
 
    public: void Size(const Vector3<T> &_size)
    {
      // Enforce non-negative size
      this->size = _size.Abs();
    }
 
    public: void Pose(const Pose3<T> &_pose)
    {
      this->pose = _pose;
    }
 
    public: bool operator==(const OrientedBox<T> &_b) const
    {
      return this->size == _b.size && this->pose == _b.pose &&
             this->material == _b.material;
    }
 
    public: bool operator!=(const OrientedBox<T> &_b) const
    {
      return this->size != _b.size || this->pose != _b.pose ||
             this->material != _b.material;
    }
 
    public: friend std::ostream &operator<<(std::ostream &_out,
                                            const OrientedBox<T> &_b)
    {
      _out << "Size[" << _b.Size() << "] Pose[" << _b.Pose() << "] "
        << "Material[" << _b.Material().Name() << "]";
      return _out;
    }
 
    public: bool Contains(const Vector3d &_p) const
    {
      // Move point to box frame
      auto t = Matrix4<T>(this->pose).Inverse();
      auto p = t *_p;
 
      return p.X() >= -this->size.X()*0.5 && p.X() <= this->size.X()*0.5 &&
             p.Y() >= -this->size.Y()*0.5 && p.Y() <= this->size.Y()*0.5 &&
             p.Z() >= -this->size.Z()*0.5 && p.Z() <= this->size.Z()*0.5;
    }
 
    public: const gz::math::Material &Material() const
    {
      return this->material;
    }
 
    public: void SetMaterial(const gz::math::Material &_mat)
    {
      this->material = _mat;
    }
 
    public: T Volume() const
    {
      return this->size.X() * this->size.Y() * this->size.Z();
    }
 
    public: T DensityFromMass(const T _mass) const
    {
      if (this->size.Min() <= 0|| _mass <= 0)
        return -1.0;
 
      return _mass / this->Volume();
    }
 
    public: bool SetDensityFromMass(const T _mass)
    {
      T newDensity = this->DensityFromMass(_mass);
      if (newDensity > 0)
        this->material.SetDensity(newDensity);
      return newDensity > 0;
    }
 
    public: bool MassMatrix(MassMatrix3<T> &_massMat) const
    {
      return _massMat.SetFromBox(this->material, this->size);
    }
 
    private: Vector3<T> size;
 
    private: Pose3<T> pose;
 
    private: gz::math::Material material;
  };
 
  typedef OrientedBox<double> OrientedBoxd;
  typedef OrientedBox<float> OrientedBoxf;
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_ORIENTEDBOX_HH_