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/*
* Copyright (C) 2020 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef IGNITION_MATH_ELLIPSOID_HH_
#define IGNITION_MATH_ELLIPSOID_HH_
#include <optional>
#include "ignition/math/MassMatrix3.hh"
#include "ignition/math/Material.hh"
namespace ignition
{
namespace math
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_MATH_VERSION_NAMESPACE {
//
/// \class Ellipsoid Ellipsoid.hh ignition/math/Ellipsoid.hh
/// \brief A representation of a general ellipsoid.
///
/// The ellipsoid class supports defining a ellipsoid with three radii and
/// material properties. Radii are in meters. See Material for more on
/// material properties.
/// \tparam Precision Scalar numeric type.
template<typename Precision>
class Ellipsoid
{
/// \brief Default constructor. The default radius and length are both
/// zero.
public: Ellipsoid() = default;
/// \brief Construct a ellipsoid with a Vector3 of three radii.
/// \param[in] _radii The three radii (x, y, z) defining this ellipsoid
public: explicit Ellipsoid(const Vector3<Precision> &_radii);
/// \brief Construct a ellipsoid with three radii and a material.
/// \param[in] _radii The three radii (x, y, z) defining this ellipsoid
/// \param[in] _mat Material property for the ellipsoid.
public: Ellipsoid(const Vector3<Precision> &_radii,
const Material &_mat);
/// \brief Get the radius in meters.
/// \return The radius of the ellipsoid in meters.
public: Vector3<Precision> Radii() const;
/// \brief Set the radius in meters.
/// \param[in] _radii The radii of the ellipsoid in meters.
public: void SetRadii(const Vector3<Precision> &_radii);
/// \brief Get the material associated with this ellipsoid.
/// \return The material assigned to this ellipsoid
public: const Material &Mat() const;
/// \brief Set the material associated with this ellipsoid.
/// \param[in] _mat The material assigned to this ellipsoid
public: void SetMat(const Material &_mat);
/// \brief Get the mass matrix for this ellipsoid. This function
/// is only meaningful if the ellipsoid's radii and material
/// have been set.
/// \return The computed mass matrix if parameters are valid
/// (radius > 0), (length > 0), and (density > 0). Otherwise
/// std::nullopt is returned.
public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
/// \brief Check if this ellipsoid is equal to the provided ellipsoid.
/// Radius, length, and material properties will be checked.
public: bool operator==(const Ellipsoid &_ellipsoid) const;
/// \brief Get the volume of the ellipsoid in m^3.
/// \return Volume of the ellipsoid in m^3.
public: Precision Volume() const;
/// \brief Compute the ellipsoid's density given a mass value. The
/// ellipsoid is assumed to be solid with uniform density. This
/// function requires the ellipsoid's radius and length to be set to
/// values greater than zero. The Material of the ellipsoid is ignored.
/// \param[in] _mass Mass of the ellipsoid, in kg. This value should be
/// greater than zero.
/// \return Density of the ellipsoid in kg/m^3. A NaN is returned
/// if radius, length or _mass is <= 0.
public: Precision DensityFromMass(const Precision _mass) const;
/// \brief Set the density of this ellipsoid based on a mass value.
/// Density is computed using
/// Precision DensityFromMass(const Precision _mass) const. The
/// ellipsoid is assumed to be solid with uniform density. This
/// function requires the ellipsoid's radius and length to be set to
/// values greater than zero. The existing Material density value is
/// overwritten only if the return value from this true.
/// \param[in] _mass Mass of the ellipsoid, in kg. This value should be
/// greater than zero.
/// \return True if the density was set. False is returned if the
/// ellipsoid's radius, length, or the _mass value are <= 0.
/// \sa Precision DensityFromMass(const Precision _mass) const
public: bool SetDensityFromMass(const Precision _mass);
/// \brief Radius of the ellipsoid.
private: Vector3<Precision> radii = Vector3<Precision>::Zero;
/// \brief the ellipsoid's material.
private: Material material;
};
/// \typedef Ellipsoid<int> Ellipsoidi
/// \brief Ellipsoid with integer precision.
typedef Ellipsoid<int> Ellipsoidi;
/// \typedef Ellipsoid<double> Ellipsoidd
/// \brief Ellipsoid with double precision.
typedef Ellipsoid<double> Ellipsoidd;
/// \typedef Ellipsoid<float> Ellipsoidf
/// \brief Ellipsoid with float precision.
typedef Ellipsoid<float> Ellipsoidf;
}
}
}
#include "ignition/math/detail/Ellipsoid.hh"
#endif
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