A representation of a box. All units are in meters. More...

#include <gz/math/Box.hh>

Public Member Functions
	Box ()=default
	Default constructor.

	Box (const Precision _length, const Precision _width, const Precision _height)
	Construct a box with specified dimensions.

	Box (const Precision _length, const Precision _width, const Precision _height, const Material &_mat)
	Construct a box with specified dimensions and a material.

	Box (const Vector3< Precision > &_size)
	Construct a box with specified dimensions, in vector form.

	Box (const Vector3< Precision > &_size, const Material &_mat)
	Construct a box with specified dimensions, in vector form and a material.

std::optional< Vector3< Precision > >	CenterOfVolumeBelow (const Plane< Precision > &_plane) const
	Center of volume below the plane. This is useful when calculating where buoyancy should be applied, for example.

Precision	DensityFromMass (const Precision _mass) const
	Compute the box's density given a mass value. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The Material of the box is ignored.

IntersectionPoints< Precision >	Intersections (const Plane< Precision > &_plane) const
	Get intersection between a plane and the box's edges. Edges contained on the plane are ignored.

std::optional< MassMatrix3< Precision > >	MassMatrix () const
	Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set.

bool	MassMatrix (MassMatrix3< Precision > &_massMat) const
	Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set.

const Material &	Material () const
	Get the material associated with this box.

bool	operator!= (const Box< Precision > &_b) const
	Inequality test operator.

bool	operator== (const Box< Precision > &_b) const
	Equality test operator.

bool	SetDensityFromMass (const Precision _mass)
	Set the density of this box based on a mass value. Density is computed using double DensityFromMass(const double _mass) const. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true.

void	SetMaterial (const Material &_mat)
	Set the material associated with this box.

void	SetSize (const math::Vector3< Precision > &_size)
	Set the size of the box.

void	SetSize (const Precision _length, const Precision _width, const Precision _height)
	Set the size of the box.

math::Vector3< Precision >	Size () const
	Get the size of the box.

IntersectionPoints< Precision >	VerticesBelow (const Plane< Precision > &_plane) const
	All the vertices which are on or below the plane.

Precision	Volume () const
	Get the volume of the box in m^3.

Precision	VolumeBelow (const Plane< Precision > &_plane) const
	Get the volume of the box below a plane.

Detailed Description

template<typename Precision>
class gz::math::Box< Precision >

A representation of a box. All units are in meters.

The box class supports defining a size and material properties. See Material for more on material properties.

By default, a box's size (length, width, and height) is zero.

See AxisAlignedBox for an axis aligned box implementation.

Constructor & Destructor Documentation

◆ Box() [1/5]

template<typename Precision >

Box ( )

default

Default constructor.

◆ Box() [2/5]

template<typename Precision >

Box	(	const Precision	_length,
		const Precision	_width,
		const Precision	_height
	)

Construct a box with specified dimensions.

Parameters

[in]	_length	Length of the box in meters.
[in]	_width	Width of the box in meters.
[in]	_height	Height of the box in meters.

◆ Box() [3/5]

template<typename Precision >

Box	(	const Precision	_length,
		const Precision	_width,
		const Precision	_height,
		const Material &	_mat
	)

Construct a box with specified dimensions and a material.

Parameters

[in]	_length	Length of the box in meters.
[in]	_width	Width of the box in meters.
[in]	_height	Height of the box.
[in]	_mat	Material property for the box.

◆ Box() [4/5]

template<typename Precision >

Box ( const Vector3< Precision > & _size )

explicit

Construct a box with specified dimensions, in vector form.

Parameters

[in] _size Size of the box. The vector _size has the following mapping:

_size[0] == length in meters
_size[1] == width in meters
_size[2] == height in meters

◆ Box() [5/5]

template<typename Precision >

Box	(	const Vector3< Precision > &	_size,
		const Material &	_mat
	)

Construct a box with specified dimensions, in vector form and a material.

Parameters

[in] _size Size of the box. The vector _size has the following mapping:

_size[0] == length in meters
_size[1] == width in meters
_size[2] == height in meters
Parameters

[in] _mat Material property for the box.

Member Function Documentation

◆ CenterOfVolumeBelow()

template<typename Precision >

std::optional< Vector3< Precision > > CenterOfVolumeBelow ( const Plane< Precision > & _plane ) const

Center of volume below the plane. This is useful when calculating where buoyancy should be applied, for example.

Parameters

[in] _plane The plane which cuts the box, expressed in the box's frame.

Returns: Center of volume, in box's frame.

◆ DensityFromMass()

template<typename Precision >

Precision DensityFromMass ( const Precision _mass ) const

Compute the box's density given a mass value. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The Material of the box is ignored.

Parameters

[in] _mass Mass of the box, in kg. This value should be greater than zero.

Returns: Density of the box in kg/m^3. A negative value is returned if the size or _mass is <= 0.

◆ Intersections()

template<typename Precision >

IntersectionPoints< Precision > Intersections ( const Plane< Precision > & _plane ) const

Get intersection between a plane and the box's edges. Edges contained on the plane are ignored.

Parameters

[in] _plane The plane against which we are testing intersection.

Returns: A list of points along the edges of the box where the intersection occurs.

◆ MassMatrix() [1/2]

template<typename Precision >

std::optional< MassMatrix3< Precision > > MassMatrix ( ) const

Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set.

Returns: The computed mass matrix if parameters are valid (radius > 0), (length > 0), and (density > 0). Otherwise std::nullopt is returned.

◆ MassMatrix() [2/2]

template<typename Precision >

bool MassMatrix ( MassMatrix3< Precision > & _massMat ) const

Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set.

Parameters

[out] _massMat The computed mass matrix will be stored here.

Returns: False if computation of the mass matrix failed, which could be due to an invalid size (<=0) or density (<=0).

◆ Material()

template<typename Precision >

const Material & Material ( ) const

Get the material associated with this box.

Returns: The material assigned to this box.

◆ operator!=()

template<typename Precision >

bool operator!= ( const Box< Precision > & _b ) const

Inequality test operator.

Parameters

[in] _b Box to test.

Returns: True if not equal.

◆ operator==()

template<typename Precision >

bool operator== ( const Box< Precision > & _b ) const

Equality test operator.

Parameters

[in] _b Box to test.

Returns: True if equal.

◆ SetDensityFromMass()

template<typename Precision >

bool SetDensityFromMass ( const Precision _mass )

Set the density of this box based on a mass value. Density is computed using double DensityFromMass(const double _mass) const. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true.

Parameters

[in] _mass Mass of the box, in kg. This value should be greater than zero.

Returns: True if the density was set. False is returned if the box's size or the _mass value are <= 0.

See also: double DensityFromMass(const double _mass) const

◆ SetMaterial()

template<typename Precision >

void SetMaterial ( const Material & _mat )

Set the material associated with this box.

Parameters

[in] _mat The material assigned to this box.

◆ SetSize() [1/2]

template<typename Precision >

void SetSize ( const math::Vector3< Precision > & _size )

Set the size of the box.

Parameters

[in] _size Size of the box. The vector _size has the following mapping:

_size[0] == lengt in metersh
_size[1] == widt in metersh
_size[2] == heigh in meterst

◆ SetSize() [2/2]

template<typename Precision >

void SetSize	(	const Precision	_length,
		const Precision	_width,
		const Precision	_height
	)

Set the size of the box.

Parameters

[in]	_length	Length of the box in meters.
[in]	_width	Width of the box in meters.
[in]	_height	Height of the box in meters.

◆ Size()

template<typename Precision >

math::Vector3< Precision > Size ( ) const

Get the size of the box.

Returns: Size of the box in meters.

◆ VerticesBelow()

template<typename Precision >

IntersectionPoints< Precision > VerticesBelow ( const Plane< Precision > & _plane ) const

All the vertices which are on or below the plane.

Parameters

[in] _plane The plane which cuts the box, expressed in the box's frame.

Returns: Box vertices which are below the plane, expressed in the box's frame.

◆ Volume()

template<typename Precision >

Precision Volume ( ) const

Get the volume of the box in m^3.

Returns: Volume of the box in m^3.

◆ VolumeBelow()

template<typename Precision >

Precision VolumeBelow ( const Plane< Precision > & _plane ) const

Get the volume of the box below a plane.

Parameters

[in] _plane The plane which cuts the box, expressed in the box's frame.

Returns: Volume below the plane in m^3.

The documentation for this class was generated from the following file:

Box.hh

Gazebo Math

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Box() [1/5]

◆ Box() [2/5]

◆ Box() [3/5]

◆ Box() [4/5]

◆ Box() [5/5]

Member Function Documentation

◆ CenterOfVolumeBelow()

◆ DensityFromMass()

◆ Intersections()

◆ MassMatrix() [1/2]

◆ MassMatrix() [2/2]

◆ Material()

◆ operator!=()

◆ operator==()

◆ SetDensityFromMass()

◆ SetMaterial()

◆ SetSize() [1/2]

◆ SetSize() [2/2]

◆ Size()

◆ VerticesBelow()

◆ Volume()

◆ VolumeBelow()