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Plane.hh
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1 /*
2  * Copyright (C) 2012-2014 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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _PLANE_HH_
18 #define _PLANE_HH_
19 
20 #include "gazebo/math/Vector3.hh"
21 #include "gazebo/math/Vector2d.hh"
22 
23 namespace gazebo
24 {
25  namespace math
26  {
29 
32  class Plane
33  {
35  public: Plane();
36 
40  public: Plane(const Vector3 &_normal, double _offset = 0.0);
41 
46  public: Plane(const Vector3 &_normal, const Vector2d &_size,
47  double _offset);
48 
50  public: virtual ~Plane();
51 
56  public: void Set(const Vector3 &_normal, const Vector2d &_size,
57  double offset);
58 
63  public: double Distance(const Vector3 &_origin,
64  const Vector3 &_dir) const;
65 
69  public: Plane &operator =(const Plane &_p);
70 
72  public: Vector3 normal;
73 
75  public: Vector2d size;
76 
78  public: double d;
79  };
81  }
82 }
83 #endif
84 
85 
86