Frustum.hh

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/*
 * Copyright (C) 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 IGNITION_MATH_FRUSTUM_HH_
#define IGNITION_MATH_FRUSTUM_HH_

#include <ignition/math/Plane.hh>
#include <ignition/math/Angle.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/config.hh>

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    // Forward declaration of private data
    class FrustumPrivate;

    class IGNITION_MATH_VISIBLE Frustum
    {
      public: enum FrustumPlane
      {
        FRUSTUM_PLANE_NEAR   = 0,

        FRUSTUM_PLANE_FAR    = 1,

        FRUSTUM_PLANE_LEFT   = 2,

        FRUSTUM_PLANE_RIGHT  = 3,

        FRUSTUM_PLANE_TOP    = 4,

        FRUSTUM_PLANE_BOTTOM = 5
      };

      public: Frustum();

      public: Frustum(const double _near,
                      const double _far,
                      const math::Angle &_fov,
                      const double _aspectRatio,
                      const math::Pose3d &_pose = math::Pose3d::Zero);

      public: Frustum(const Frustum &_p);

      public: virtual ~Frustum();

      public: double Near() const;

      public: void SetNear(const double _near);

      public: double Far() const;

      public: void SetFar(const double _far);

      public: math::Angle FOV() const;

      public: void SetFOV(const math::Angle &_fov);

      public: double AspectRatio() const;

      public: void SetAspectRatio(const double _aspectRatio);

      public: Planed Plane(const FrustumPlane _plane) const;

      public: bool Contains(const Box &_b) const;

      public: bool Contains(const Vector3d &_p) const;

      public: Pose3d Pose() const;

      public: void SetPose(const Pose3d &_pose);

      public: Frustum &operator=(const Frustum &_f);

      private: void ComputePlanes();

      private: FrustumPrivate *dataPtr;
    };
    }
  }
}
#endif