Plane.hh

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/*
 * Copyright 2012 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 _PLANE_HH_
#define _PLANE_HH_

#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Vector2d.hh"

namespace gazebo
{
  namespace math
  {

    class Plane
    {
      public: Plane();

      public: Plane(const Vector3 &_normal, double _offset = 0.0);

      public: Plane(const Vector3 &_normal, const Vector2d &_size,
                    double _offset);

      public: virtual ~Plane();

      public: void Set(const Vector3 &_normal, const Vector2d &_size,
                       double offset);

      public: double Distance(const Vector3 &_origin,
                              const Vector3 &_dir) const;

      public: Plane &operator =(const Plane &_p);

      public: Vector3 normal;

      public: Vector2d size;

      public: double d;
    };
  }
}
#endif