Gazebo Physics

API Reference

2.6.2
gz/physics/Geometry.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_PHYSICS_GEOMETRY_HH_
19 #define GZ_PHYSICS_GEOMETRY_HH_
20 
21 #include <Eigen/Geometry>
22 
23 #define DETAIL_IGN_PHYSICS_MAKE_BOTH_PRECISIONS(Type, Dim) \
24  using Type ## Dim ## d = Type<double, Dim>; \
25  using Type ## Dim ## f = Type<float, Dim>;
26 
32 #define IGN_PHYSICS_MAKE_ALL_TYPE_COMBOS(Type) \
33  DETAIL_IGN_PHYSICS_MAKE_BOTH_PRECISIONS(Type, 2) \
34  DETAIL_IGN_PHYSICS_MAKE_BOTH_PRECISIONS(Type, 3)
35 
36 namespace ignition
37 {
38  namespace physics
39  {
43  template <typename Scalar, std::size_t Dim>
44  using Pose = Eigen::Transform<Scalar, Dim, Eigen::Isometry>;
46 
47  template <typename Scalar, std::size_t Dim>
48  using Vector = Eigen::Matrix<Scalar, Dim, 1>;
50 
51  template <typename Scalar, std::size_t Dim>
54 
55  template <typename Scalar, std::size_t Dim>
56  using AngularVector = Vector<Scalar, (Dim*(Dim-1))/2>;
58 
59  template <typename Scalar, std::size_t Dim>
60  using AlignedBox = Eigen::AlignedBox<Scalar, Dim>;
62 
63 
64  template <typename PolicyT>
69  struct FromPolicy
70  {
71  using Scalar = typename PolicyT::Scalar;
72  enum { Dim = PolicyT::Dim };
73 
74  template<template <typename, std::size_t> class Type>
75  using Use = Type<Scalar, Dim>;
76  };
77 
78  template<typename Scalar>
79  Eigen::Rotation2D<Scalar> Rotate(
80  const Scalar &_angle,
81  const AngularVector<Scalar, 2> &_axis)
82  {
83  return Eigen::Rotation2D<Scalar>(_angle*_axis[0]);
84  }
85 
86  template <typename Scalar>
87  Eigen::AngleAxis<Scalar> Rotate(
88  const Scalar &_angle,
89  const AngularVector<Scalar, 3> &_axis)
90  {
91  return Eigen::AngleAxis<Scalar>(_angle, _axis);
92  }
93  }
94 }
95 
96 #endif
This struct is used to conveniently convert from a policy to a geometric type. Example usage:
Definition: gz/physics/Geometry.hh:69
Eigen::AlignedBox< Scalar, Dim > AlignedBox
Definition: gz/physics/Geometry.hh:60
typename PolicyT::Scalar Scalar
Definition: gz/physics/Geometry.hh:71
Eigen::Matrix< Scalar, Dim, 1 > Vector
Definition: gz/physics/Geometry.hh:48
@ Dim
Definition: gz/physics/Geometry.hh:72
Type< Scalar, Dim > Use
Definition: gz/physics/Geometry.hh:75
Vector< Scalar, Dim > LinearVector
Definition: gz/physics/Geometry.hh:52
Eigen::Transform< Scalar, Dim, Eigen::Isometry > Pose
This is used by ignition-physics to represent rigid body transforms in 2D or 3D simulations....
Definition: gz/physics/Geometry.hh:44
Eigen::Rotation2D< Scalar > Rotate(const Scalar &_angle, const AngularVector< Scalar, 2 > &_axis)
Definition: gz/physics/Geometry.hh:79
IGN_PHYSICS_MAKE_ALL_TYPE_COMBOS(FrameData) template< typename Scalar
Vector< Scalar,(Dim *(Dim-1))/2 > AngularVector
Definition: gz/physics/Geometry.hh:56