Plane.hh
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1 /*
2  * Copyright (C) 2012-2015 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
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15  *
16 */
17 #ifndef _PLANE_HH_
18 #define _PLANE_HH_
19
20 #include "gazebo/math/Vector3.hh"
21 #include "gazebo/math/Vector2d.hh"
22 #include "gazebo/util/system.hh"
23
24 namespace gazebo
25 {
26  namespace math
27  {
30
34  {
36  public: Plane();
37
41  public: Plane(const Vector3 &_normal, double _offset = 0.0);
42
47  public: Plane(const Vector3 &_normal, const Vector2d &_size,
48  double _offset);
49
51  public: virtual ~Plane();
52
57  public: void Set(const Vector3 &_normal, const Vector2d &_size,
58  double offset);
59
64  public: double Distance(const Vector3 &_origin,
65  const Vector3 &_dir) const;
66
70  public: Plane &operator =(const Plane &_p);
71
73  public: Vector3 normal;
74
76  public: Vector2d size;
77
79  public: double d;
80  };
82  }
83 }
84 #endif
85
86
87
Generic double x, y vector.
Definition: Vector2d.hh:39
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
Vector3 normal
Plane normal.
Definition: Plane.hh:73
A plane and related functions.
Definition: Plane.hh:33
double d
Plane offset.
Definition: Plane.hh:79
GAZEBO_VISIBLE void Set(common::Image &_img, const msgs::Image &_msg)
Convert a msgs::Image to a common::Image.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
Vector2d size
Plane size.
Definition: Plane.hh:76