Gazebo Physics

API Reference

7.4.0
Geometry.hh
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1 /*
2  * Copyright (C) 2018 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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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_GZ_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 GZ_PHYSICS_MAKE_ALL_TYPE_COMBOS(Type) \
33  DETAIL_GZ_PHYSICS_MAKE_BOTH_PRECISIONS(Type, 2) \
34  DETAIL_GZ_PHYSICS_MAKE_BOTH_PRECISIONS(Type, 3)
35 
36 namespace gz
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  struct Wrench
61  {
64  };
66 
67  template <typename Scalar, std::size_t Dim>
68  using AlignedBox = Eigen::AlignedBox<Scalar, Dim>;
70 
71 
76  template <typename PolicyT>
77  struct FromPolicy
78  {
79  using Scalar = typename PolicyT::Scalar;
80  enum { Dim = PolicyT::Dim };
81 
82  template<template <typename, std::size_t> class Type>
83  using Use = Type<Scalar, Dim>;
84  };
85 
86  template<typename Scalar>
87  Eigen::Rotation2D<Scalar> Rotate(
88  const Scalar &_angle,
89  const AngularVector<Scalar, 2> &_axis)
90  {
91  return Eigen::Rotation2D<Scalar>(_angle*_axis[0]);
92  }
93 
94  template <typename Scalar>
95  Eigen::AngleAxis<Scalar> Rotate(
96  const Scalar &_angle,
97  const AngularVector<Scalar, 3> &_axis)
98  {
99  return Eigen::AngleAxis<Scalar>(_angle, _axis);
100  }
101  }
102 }
103 
104 #endif