Plane.hh
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1 /*
2  * Copyright (C) 2012-2016 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
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _GAZEBO_PLANE_HH_
18 #define _GAZEBO_PLANE_HH_
19 
20 #include <ignition/math/Plane.hh>
21 
22 #include "gazebo/math/Vector3.hh"
23 #include "gazebo/math/Vector2d.hh"
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace math
29  {
32 
36  {
38  public: Plane();
39 
43  public: Plane(const Vector3 &_normal, double _offset = 0.0);
44 
49  public: Plane(const Vector3 &_normal, const Vector2d &_size,
50  double _offset);
51 
54  public: Plane(const ignition::math::Planed &_plane);
55 
57  public: virtual ~Plane();
58 
63  public: void Set(const Vector3 &_normal, const Vector2d &_size,
64  double offset);
65 
70  public: double Distance(const Vector3 &_origin,
71  const Vector3 &_dir) const;
72 
76  public: Plane &operator =(const Plane &_p);
77 
81  public: Plane &operator =(const ignition::math::Planed &_p);
82 
85  public: ignition::math::Planed Ign() const;
86 
88  public: Vector3 normal;
89 
91  public: Vector2d size;
92 
94  public: double d;
95  };
97  }
98 }
99 #endif
100 
101 
102 
Generic double x, y vector.
Definition: Vector2d.hh:36
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Vector3 normal
Plane normal.
Definition: Plane.hh:88
#define GZ_MATH_VISIBLE
Definition: system.hh:134
A plane and related functions.
Definition: Plane.hh:35
double d
Plane offset.
Definition: Plane.hh:94
GAZEBO_VISIBLE void Set(common::Image &_img, const msgs::Image &_msg)
Convert a msgs::Image to a common::Image.
Vector2d size
Plane size.
Definition: Plane.hh:91