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Box.hh
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2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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13  * See the License for the specific language governing permissions and
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17 #ifndef _BOX_HH_
18 #define _BOX_HH_
19 
20 #include <iostream>
21 #include "gazebo/math/Vector3.hh"
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace math
27  {
30 
34  {
36  public: Box();
37 
41  public: Box(const Vector3 &_min, const Vector3 &_max);
42 
45  public: Box(const Box &_b);
46 
48  public: virtual ~Box();
49 
52  public: double GetXLength() const;
53 
56  public: double GetYLength() const;
57 
60  public: double GetZLength() const;
61 
64  public: math::Vector3 GetSize() const;
65 
68  public: math::Vector3 GetCenter() const;
69 
72  public: void Merge(const Box &_box);
73 
77  public: Box &operator =(const Box &_b);
78 
82  public: Box operator+(const Box &_b) const;
83 
87  public: const Box &operator+=(const Box &_b);
88 
92  public: bool operator==(const Box &_b) const;
93 
97  public: Box operator-(const Vector3 &_v);
98 
103  public: friend std::ostream &operator<<(std::ostream &_out,
104  const gazebo::math::Box &_b)
105  {
106  _out << "Min[" << _b.min << "] Max[" << _b.max << "]";
107 
108  return _out;
109  }
110 
112  public: Vector3 min;
113 
115  public: Vector3 max;
116 
118  private: enum Extent {EXTENT_NULL, EXTENT_FINITE};
119 
122  private: Extent extent;
123  };
125  }
126 }
127 
128 #endif
129 
130 
131 
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
Mathematical representation of a box and related functions.
Definition: Box.hh:33
Vector3 min
Minimum corner of the box.
Definition: Box.hh:112
friend std::ostream & operator<<(std::ostream &_out, const gazebo::math::Box &_b)
Output operator.
Definition: Box.hh:103
Vector3 max
Maximum corner of the box.
Definition: Box.hh:115
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48