OrientedBox.hh

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/*
 * Copyright (C) 2017 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_ORIENTEDBOX_HH_
#define IGNITION_MATH_ORIENTEDBOX_HH_

#include <iostream>
#include <ignition/math/Helpers.hh>
#include <ignition/math/Matrix4.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/math/config.hh>

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    template<typename T>
    class OrientedBox
    {
      public: OrientedBox() : size(Vector3<T>::Zero), pose(Pose3<T>::Zero)
      {
      }

      public: OrientedBox(const Vector3<T> &_size, const Pose3<T> &_pose)
          : size(_size), pose(_pose)
      {
        // Enforce non-negative size
        this->size = this->size.Abs();
      }

      public: explicit OrientedBox(const Vector3<T> &_size)
          : size(_size), pose(Pose3<T>::Zero)
      {
        // Enforce non-negative size
        this->size = this->size.Abs();
      }

      public: OrientedBox(const OrientedBox<T> &_b)
          : size(_b.size), pose(_b.pose)
      {
      }

      public: virtual ~OrientedBox()
      {
      }

      public: T XLength() const
      {
        return this->size.X();
      }

      public: T YLength() const
      {
        return this->size.Y();
      }

      public: T ZLength() const
      {
        return this->size.Z();
      }

      public: const Vector3<T> &Size() const
      {
        return this->size;
      }

      public: const Pose3<T> &Pose() const
      {
        return this->pose;
      }

      public: void Size(Vector3<T> &_size)
      {
        // Enforce non-negative size
        this->size = _size.Abs();
      }

      public: void Pose(Pose3<T> &_pose)
      {
        this->pose = _pose;
      }

      public: OrientedBox &operator=(const OrientedBox<T> &_b)
      {
        this->size = _b.size;
        this->pose = _b.pose;
        return *this;
      }

      public: bool operator==(const OrientedBox<T> &_b) const
      {
        return this->size == _b.size && this->pose == _b.pose;
      }

      public: bool operator!=(const OrientedBox<T> &_b) const
      {
        return this->size != _b.size || this->pose != _b.pose;
      }

      public: friend std::ostream &operator<<(std::ostream &_out,
                                              const OrientedBox<T> &_b)
      {
        _out << "Size[" << _b.Size() << "] Pose[" << _b.Pose() << "]";
        return _out;
      }

      public: bool Contains(const Vector3d &_p) const
      {
        // Move point to box frame
        auto t = Matrix4<T>(this->pose).Inverse();
        auto p = t *_p;

        return p.X() >= -this->size.X()*0.5 && p.X() <= this->size.X()*0.5 &&
               p.Y() >= -this->size.Y()*0.5 && p.Y() <= this->size.Y()*0.5 &&
               p.Z() >= -this->size.Z()*0.5 && p.Z() <= this->size.Z()*0.5;
      }

      private: Vector3<T> size;

      private: Pose3<T> pose;
    };

    typedef OrientedBox<int> OrientedBoxi;
    typedef OrientedBox<double> OrientedBoxd;
    typedef OrientedBox<float> OrientedBoxf;
    }
  }
}
#endif