Mathematical representation of a frustum and related functions. This is also known as a view frustum. More...

#include <Frustum.hh>

Public Types
enum	FrustumPlane { FRUSTUM_PLANE_NEAR = 0 , FRUSTUM_PLANE_FAR = 1 , FRUSTUM_PLANE_LEFT = 2 , FRUSTUM_PLANE_RIGHT = 3 , FRUSTUM_PLANE_TOP = 4 , FRUSTUM_PLANE_BOTTOM = 5 }
	Planes that define the boundaries of the frustum. More...

Public Member Functions
	Frustum ()
	Default constructor. With the following default values:

	Frustum (double _near, double _far, const math::Angle &_fov, double _aspectRatio, const math::Pose3d &_pose=math::Pose3d::Zero)
	Constructor.

double	AspectRatio () const
	Get the aspect ratio, which is the width divided by height of the near or far planes.

bool	Contains (const AxisAlignedBox &_b) const
	Check if a box lies inside the pyramid frustum.

bool	Contains (const Vector3d &_p) const
	Check if a point lies inside the pyramid frustum.

double	Far () const
	Get the far distance. This is the distance from the frustum's vertex to the farthest plane.

math::Angle	FOV () const
	Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

double	Near () const
	Get the near distance. This is the distance from the frustum's vertex to the closest plane.

Planed	Plane (const FrustumPlane _plane) const
	Get a plane of the frustum.

Pose3d	Pose () const
	Get the pose of the frustum.

void	SetAspectRatio (double _aspectRatio)
	Set the aspect ratio, which is the width divided by height of the near or far planes.

void	SetFar (double _far)
	Set the far distance. This is the distance from the frustum's vertex to the farthest plane.

void	SetFOV (const math::Angle &_fov)
	Set the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

void	SetNear (double _near)
	Set the near distance. This is the distance from the frustum's vertex to the closest plane.

void	SetPose (const Pose3d &_pose)
	Set the pose of the frustum.

Detailed Description

Mathematical representation of a frustum and related functions. This is also known as a view frustum.

Member Enumeration Documentation

◆ FrustumPlane

enum FrustumPlane

Planes that define the boundaries of the frustum.

Enumerator
FRUSTUM_PLANE_NEAR	Near plane.
FRUSTUM_PLANE_FAR	Far plane.
FRUSTUM_PLANE_LEFT	Left plane.
FRUSTUM_PLANE_RIGHT	Right plane.
FRUSTUM_PLANE_TOP	Top plane.
FRUSTUM_PLANE_BOTTOM	Bottom plane.

Constructor & Destructor Documentation

◆ Frustum() [1/2]

Frustum ( )

Default constructor. With the following default values:

near: 0.0
far: 1.0
fov: 0.78539 radians (45 degrees)
aspect ratio: 1.0
pose: Pose3d::Zero

◆ Frustum() [2/2]

Frustum	(	double	_near,
		double	_far,
		const math::Angle &	_fov,
		double	_aspectRatio,
		const math::Pose3d &	_pose = `math::Pose3d::Zero`
	)

Constructor.

Parameters

[in]	_near	Near plane distance. This is the distance from the frustum's vertex to the closest plane
[in]	_far	Far plane distance. This is the distance from the frustum's vertex to the farthest plane.
[in]	_fov	Field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.
[in]	_aspectRatio	The aspect ratio, which is the width divided by height of the near or far planes.
[in]	_pose	Pose of the frustum, which is the vertex (top of the pyramid).

Member Function Documentation

◆ AspectRatio()

double AspectRatio ( ) const

Get the aspect ratio, which is the width divided by height of the near or far planes.

Returns: The frustum's aspect ratio.

See also: SetAspectRatio

◆ Contains() [1/2]

bool Contains ( const AxisAlignedBox & _b ) const

Check if a box lies inside the pyramid frustum.

Parameters

[in] _b Box to check.

Returns: True if the box is inside the pyramid frustum.

◆ Contains() [2/2]

bool Contains ( const Vector3d & _p ) const

Check if a point lies inside the pyramid frustum.

Parameters

[in] _p Point to check.

Returns: True if the point is inside the pyramid frustum.

◆ Far()

double Far ( ) const

Get the far distance. This is the distance from the frustum's vertex to the farthest plane.

Returns: Far distance.

See also: SetFar

◆ FOV()

math::Angle FOV ( ) const

Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Returns: The field of view.

See also: SetFOV

◆ Near()

double Near ( ) const

Get the near distance. This is the distance from the frustum's vertex to the closest plane.

Returns: Near distance.

See also: SetNear

◆ Plane()

Planed Plane ( const FrustumPlane _plane ) const

Get a plane of the frustum.

Parameters

[in] _plane The plane to return.

Returns: Plane of the frustum.

◆ Pose()

Pose3d Pose ( ) const

Get the pose of the frustum.

Returns: Pose of the frustum

See also: SetPose

◆ SetAspectRatio()

void SetAspectRatio ( double _aspectRatio )

Set the aspect ratio, which is the width divided by height of the near or far planes.

Parameters

[in] _aspectRatio The frustum's aspect ratio.

See also: AspectRatio

◆ SetFar()

void SetFar ( double _far )

Set the far distance. This is the distance from the frustum's vertex to the farthest plane.

Parameters

[in] _far Far distance.

See also: Far

◆ SetFOV()

void SetFOV ( const math::Angle & _fov )

Set the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Parameters

[in] _fov The field of view.

See also: FOV

◆ SetNear()

void SetNear ( double _near )

Set the near distance. This is the distance from the frustum's vertex to the closest plane.

Parameters

[in] _near Near distance.

See also: Near

◆ SetPose()

void SetPose ( const Pose3d & _pose )

Set the pose of the frustum.

Parameters

[in] _pose Pose of the frustum, top vertex.

See also: Pose

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

Frustum.hh

Gazebo Math

API Reference

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ FrustumPlane

Constructor & Destructor Documentation

◆ Frustum() [1/2]

◆ Frustum() [2/2]

Member Function Documentation

◆ AspectRatio()

◆ Contains() [1/2]

◆ Contains() [2/2]

◆ Far()

◆ FOV()

◆ Near()

◆ Plane()

◆ Pose()

◆ SetAspectRatio()

◆ SetFar()

◆ SetFOV()

◆ SetNear()

◆ SetPose()