MaterialDensity.hh

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/*
 * Copyright (C) 2016 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 _GAZEBO_COMMON_MATERIALDENSITY_HH_
#define _GAZEBO_COMMON_MATERIALDENSITY_HH_

#include <string>
#include <map>
#include <tuple>
#include <ignition/math/Helpers.hh>
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {
    enum class MaterialType
    {
      BEGIN = 0,

      STYROFOAM = BEGIN,

      PINE,

      WOOD,

      OAK,

      ICE,

      WATER,

      PLASTIC,

      CONCRETE,

      ALUMINUM,

      STEEL_ALLOY,

      STEEL_STAINLESS,

      IRON,

      BRASS,

      COPPER,

      TUNGSTEN,

      END
    };

    class GZ_COMMON_VISIBLE MaterialDensity
    {
      public: static const std::map<MaterialType, double> &Materials();

      public: static double Density(const std::string &_material);

      public: static double Density(const MaterialType _material);

      public: static std::tuple<MaterialType, double> Nearest(
                  const double _value,
                  const double _epsilon = ignition::math::MAX_D);

      public: static MaterialType NearestMaterial(const double _value,
                  const double _epsilon = ignition::math::MAX_D);

      private: static std::map<MaterialType, double> materials;
    };
  }
}
#endif