Box.hh

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/*
 * Copyright (C) 2012-2015 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_BOX_HH_
#define _GAZEBO_BOX_HH_

#include <iostream>
#include <ignition/math/Box.hh>

#include "gazebo/math/Vector3.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace math
  {

    class GZ_MATH_VISIBLE Box
    {
      public: Box();


      public: Box(const Vector3 &_vec1, const Vector3 &_vec2);

      public: Box(const ignition::math::Box &_box);

      public: Box(const Box &_b);

      public: virtual ~Box();

      public: double GetXLength() const;

      public: double GetYLength() const;

      public: double GetZLength() const;

      public: math::Vector3 GetSize() const;

      public: math::Vector3 GetCenter() const;

      public: void Merge(const Box &_box);

      public: ignition::math::Box Ign() const;

      public: Box &operator=(const ignition::math::Box &_b);

      public: Box &operator =(const Box &_b);

      public: Box operator+(const Box &_b) const;

      public: const Box &operator+=(const Box &_b);

      public: bool operator==(const Box &_b) const;

      public: Box operator-(const Vector3 &_v);

      public: bool Contains(const math::Vector3 &_p) const;

      public: friend std::ostream &operator<<(std::ostream &_out,
                                               const gazebo::math::Box &_b)
      {
        _out << "Min[" << _b.min << "] Max[" << _b.max << "]";

        return _out;
      }

      public: Vector3 min;

      public: Vector3 max;

      private: enum Extent {EXTENT_NULL, EXTENT_FINITE};

      private: Extent extent;
    };
  }
}

#endif