Region.hh
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17 #ifndef _GAZEBO_PLUGIN_EVENTS_REGION_HH_
18 #define _GAZEBO_PLUGIN_EVENTS_REGION_HH_
19 
20 #include <string>
21 #include <vector>
22 #include <memory>
23 
24 #include <sdf/sdf.hh>
25 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/math/Box.hh"
27 
28 namespace gazebo
29 {
31  class Region
32  {
34  public: Region() = default;
35 
37  public: virtual ~Region() = default;
38 
41  public: void Load(const sdf::ElementPtr &_sdf);
42 
46  public: bool Contains(const math::Vector3 &_p) const;
47 
52  public: friend std::ostream& operator<<(std::ostream &_out,
53  const Region &_region);
54 
56  public: std::string name;
57 
59  public: std::vector<math::Box> boxes;
60  };
61 
64  typedef std::shared_ptr<Region> RegionPtr;
65 }
66 #endif
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
bool Contains(const math::Vector3 &_p) const
Check if a point lies inside the region.
Region()=default
Constructor.
void Load(const sdf::ElementPtr &_sdf)
Load from a world file (inside a SimEvent plugin element)
friend std::ostream & operator<<(std::ostream &_out, const Region &_region)
Output operator to print a region to the console.
std::string name
Name of the region (as defined in the world file)
Definition: Region.hh:56
std::shared_ptr< Region > RegionPtr
Definition: Region.hh:64
virtual ~Region()=default
Destructor.
std::vector< math::Box > boxes
The list of volumes inside this region.
Definition: Region.hh:59
A region, made of a list of boxes.
Definition: Region.hh:31