Mathematical representation of a box which can be arbitrarily positioned and rotated. More...

#include <OrientedBox.hh>

Public Member Functions
	OrientedBox ()
	Default constructor.

	OrientedBox (const Vector3< T > &_size)
	Constructor which takes only the size.

	OrientedBox (const Vector3< T > &_size, const Material &_mat)
	Constructor which takes only the size.

	OrientedBox (const Vector3< T > &_size, const Pose3< T > &_pose)
	Constructor which takes size and pose.

	OrientedBox (const Vector3< T > &_size, const Pose3< T > &_pose, const Material &_mat)
	Constructor which takes size, pose, and material.

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

T	DensityFromMass (const T _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.

bool	MassMatrix (MassMatrix3< T > &_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 OrientedBox< T > &_b) const
	Inequality test operator.

bool	operator== (const OrientedBox< T > &_b) const
	Equality test operator.

const Pose3< T > &	Pose () const
	Get the box pose, which is the pose of its center.

void	Pose (const Pose3< T > &_pose)
	Set the box pose.

bool	SetDensityFromMass (const T _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.

const Vector3< T > &	Size () const
	Get the size of the box.

void	Size (const Vector3< T > &_size)
	Set the box size.

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

T	XLength () const
	Get the length along the x dimension.

T	YLength () const
	Get the length along the y dimension.

T	ZLength () const
	Get the length along the z dimension.

Detailed Description

template<typename T>
class gz::math::OrientedBox< T >

Mathematical representation of a box which can be arbitrarily positioned and rotated.

Constructor & Destructor Documentation

◆ OrientedBox() [1/5]

template<typename T >

OrientedBox ( )

inline

Default constructor.

◆ OrientedBox() [2/5]

template<typename T >

OrientedBox	(	const Vector3< T > &	_size,
		const Pose3< T > &	_pose
	)

inline

Constructor which takes size and pose.

Parameters

[in]	_size	Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative.
[in]	_pose	Box pose.

◆ OrientedBox() [3/5]

template<typename T >

OrientedBox	(	const Vector3< T > &	_size,
		const Pose3< T > &	_pose,
		const Material &	_mat
	)

inline

Constructor which takes size, pose, and material.

Parameters

[in]	_size	Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative.
[in]	_pose	Box pose.
[in]	_mat	Material property for the box.

◆ OrientedBox() [4/5]

template<typename T >

OrientedBox ( const Vector3< T > & _size )

inlineexplicit

Constructor which takes only the size.

Parameters

[in] _size Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative.

◆ OrientedBox() [5/5]

template<typename T >

OrientedBox	(	const Vector3< T > &	_size,
		const Material &	_mat
	)

inlineexplicit

Constructor which takes only the size.

Parameters

[in]	_size	Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative.
[in]	_mat	Material property for the box.

Member Function Documentation

◆ Contains()

template<typename T >

bool Contains ( const Vector3d & _p ) const

inline

Check if a point lies inside the box.

Parameters

[in] _p Point to check.

Returns: True if the point is inside the box.

◆ DensityFromMass()

template<typename T >

T DensityFromMass ( const T _mass ) const

inline

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.

References OrientedBox< T >::Volume().

Referenced by OrientedBox< T >::SetDensityFromMass().

◆ MassMatrix()

template<typename T >

bool MassMatrix ( MassMatrix3< T > & _massMat ) const

inline

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 T >

const Material & Material ( ) const

inline

Get the material associated with this box.

Returns: The material assigned to this box.

◆ operator!=()

template<typename T >

bool operator!= ( const OrientedBox< T > & _b ) const

inline

Inequality test operator.

Parameters

[in] _b OrientedBox to test

Returns: True if not equal

◆ operator==()

template<typename T >

bool operator== ( const OrientedBox< T > & _b ) const

inline

Equality test operator.

Parameters

[in] _b OrientedBox to test

Returns: True if equal

◆ Pose() [1/2]

template<typename T >

const Pose3< T > & Pose ( ) const

inline

Get the box pose, which is the pose of its center.

Returns: The pose of the box.

◆ Pose() [2/2]

template<typename T >

void Pose ( const Pose3< T > & _pose )

inline

Set the box pose.

Parameters

[in] _pose Box pose.

◆ SetDensityFromMass()

template<typename T >

bool SetDensityFromMass ( const T _mass )

inline

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

References OrientedBox< T >::DensityFromMass(), and Material::SetDensity().

◆ SetMaterial()

template<typename T >

void SetMaterial ( const Material & _mat )

inline

Set the material associated with this box.

Parameters

[in] _mat The material assigned to this box.

◆ Size() [1/2]

template<typename T >

const Vector3< T > & Size ( ) const

inline

Get the size of the box.

Returns: Size of the box

◆ Size() [2/2]

template<typename T >

void Size ( const Vector3< T > & _size )

inline

Set the box size.

Parameters

[in] _size Box size, in its own coordinate frame. Its absolute value will be taken, so the size is non-negative.

◆ Volume()

template<typename T >

T Volume ( ) const

inline

Get the volume of the box in m^3.

Returns: Volume of the box in m^3.

Referenced by OrientedBox< T >::DensityFromMass().

◆ XLength()

template<typename T >

T XLength ( ) const

inline

Get the length along the x dimension.

Returns: Value of the length in the x dimension

◆ YLength()

template<typename T >

T YLength ( ) const

inline

Get the length along the y dimension.

Returns: Value of the length in the y dimension

◆ ZLength()

template<typename T >

T ZLength ( ) const

inline

Get the length along the z dimension.

Returns: Value of the length in the z dimension

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

OrientedBox.hh

Gazebo Math

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ OrientedBox() [1/5]

◆ OrientedBox() [2/5]

◆ OrientedBox() [3/5]

◆ OrientedBox() [4/5]

◆ OrientedBox() [5/5]

Member Function Documentation

◆ Contains()

◆ DensityFromMass()

◆ MassMatrix()

◆ Material()

◆ operator!=()

◆ operator==()

◆ Pose() [1/2]

◆ Pose() [2/2]

◆ SetDensityFromMass()

◆ SetMaterial()

◆ Size() [1/2]

◆ Size() [2/2]

◆ Volume()

◆ XLength()

◆ YLength()

◆ ZLength()