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/*
* Copyright (C) 2018 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_BOX_HH_
#define IGNITION_MATH_BOX_HH_
#include <ignition/math/config.hh>
#include <ignition/math/MassMatrix3.hh>
#include <ignition/math/Material.hh>
#include <ignition/math/Vector3.hh>
namespace ignition
{
namespace math
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_MATH_VERSION_NAMESPACE {
//
/// \class Box Box.hh ignition/math/Box.hh
/// \brief A representation of a box. All units are in meters.
///
/// The box class supports defining a size and material properties.
/// See Material for more on material properties.
///
/// By default, a box's size (length, width, and height) is zero.
///
/// See AxisAlignedBox for an axis aligned box implementation.
template<typename Precision>
class Box
{
/// \brief Default constructor.
public: Box() = default;
/// \brief Construct a box with specified dimensions.
/// \param[in] _length Length of the box in meters.
/// \param[in] _width Width of the box in meters.
/// \param[in] _height Height of the box in meters.
public: Box(const Precision _length,
const Precision _width,
const Precision _height);
/// \brief Construct a box with specified dimensions and a material.
/// \param[in] _length Length of the box in meters.
/// \param[in] _width Width of the box in meters.
/// \param[in] _height Height of the box.
/// \param[in] _mat Material property for the box.
public: Box(const Precision _length, const Precision _width,
const Precision _height,
const ignition::math::Material &_mat);
/// \brief Construct a box with specified dimensions, in vector form.
/// \param[in] _size Size of the box. The vector _size has the following
/// mapping:
///
/// * _size[0] == length in meters
/// * _size[1] == width in meters
/// * _size[2] == height in meters
public: explicit Box(const Vector3<Precision> &_size);
/// \brief Construct a box with specified dimensions, in vector form
/// and a material.
/// \param[in] _size Size of the box. The vector _size has the following
/// mapping:
///
/// * _size[0] == length in meters
/// * _size[1] == width in meters
/// * _size[2] == height in meters
/// \param[in] _mat Material property for the box.
public: Box(const Vector3<Precision> &_size,
const ignition::math::Material &_mat);
/// \brief Copy Constructor.
/// \param[in] _b Box to copy.
public: Box(const Box<Precision> &_b);
/// \brief Destructor.
public: virtual ~Box() = default;
/// \brief Get the size of the box.
/// \return Size of the box in meters.
public: math::Vector3<Precision> Size() const;
/// \brief Set the size of the box.
/// \param[in] _size Size of the box. The vector _size has the following
/// mapping:
///
/// * _size[0] == lengt in metersh
/// * _size[1] == widt in metersh
/// * _size[2] == heigh in meterst
public: void SetSize(const math::Vector3<Precision> &_size);
/// \brief Set the size of the box.
/// \param[in] _length Length of the box in meters.
/// \param[in] _width Width of the box in meters.
/// \param[in] _height Height of the box in meters.
public: void SetSize(const Precision _length,
const Precision _width,
const Precision _height);
/// \brief Equality test operator.
/// \param[in] _b Box to test.
/// \return True if equal.
public: bool operator==(const Box<Precision> &_b) const;
/// \brief Inequality test operator.
/// \param[in] _b Box to test.
/// \return True if not equal.
public: bool operator!=(const Box<Precision> &_b) const;
/// \brief Get the material associated with this box.
/// \return The material assigned to this box.
public: const ignition::math::Material &Material() const;
/// \brief Set the material associated with this box.
/// \param[in] _mat The material assigned to this box.
public: void SetMaterial(const ignition::math::Material &_mat);
/// \brief Get the volume of the box in m^3.
/// \return Volume of the box in m^3.
public: Precision Volume() const;
/// \brief 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.
/// \param[in] _mass Mass of the box, in kg. This value should be
/// greater than zero.
/// \return Density of the box in kg/m^3. A negative value is
/// returned if the size or _mass is <= 0.
public: Precision DensityFromMass(const Precision _mass) const;
/// \brief 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.
/// \param[in] _mass Mass of the box, in kg. This value should be
/// greater than zero.
/// \return True if the density was set. False is returned if the
/// box's size or the _mass value are <= 0.
/// \sa double DensityFromMass(const double _mass) const
public: bool SetDensityFromMass(const Precision _mass);
/// \brief Get the mass matrix for this box. This function
/// is only meaningful if the box's size and material
/// have been set.
/// \param[out] _massMat The computed mass matrix will be stored
/// here.
/// \return False if computation of the mass matrix failed, which
/// could be due to an invalid size (<=0) or density (<=0).
public: bool MassMatrix(MassMatrix3<Precision> &_massMat) const;
/// \brief Size of the box.
private: Vector3<Precision> size = Vector3<Precision>::Zero;
/// \brief The box's material.
private: ignition::math::Material material;
};
/// \typedef Box<int> Boxi
/// \brief Box with integer precision.
typedef Box<int> Boxi;
/// \typedef Box<double> Boxd
/// \brief Box with double precision.
typedef Box<double> Boxd;
/// \typedef Box<float> Boxf
/// \brief Box with float precision.
typedef Box<float> Boxf;
}
}
}
#include "ignition/math/detail/Box.hh"
#endif
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