OrientedBox.hh
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A class for inertial information about a rigid body consisting of the scalar mass and a 3x3 symmetric...
Definition: MassMatrix3.hh:46
bool SetFromBox(const Material &_mat, const Vector3< T > &_size, const Quaternion< T > &_rot=Quaternion< T >::Identity)
Set inertial properties based on a Material and equivalent box.
Definition: MassMatrix3.hh:1054
std::string Name() const
Get the name of the material. This will match the enum type names used in MaterialType,...
Matrix4< T > Inverse() const
Return the inverse matrix. This is a non-destructive operation.
Definition: Matrix4.hh:481
Mathematical representation of a box which can be arbitrarily positioned and rotated.
Definition: OrientedBox.hh:40
bool SetDensityFromMass(const T _mass)
Set the density of this box based on a mass value. Density is computed using double DensityFromMass(c...
Definition: OrientedBox.hh:251
bool operator==(const OrientedBox< T > &_b) const
Equality test operator.
Definition: OrientedBox.hh:161
void SetMaterial(const Material &_mat)
Set the material associated with this box.
Definition: OrientedBox.hh:211
bool MassMatrix(MassMatrix3< T > &_massMat) const
Get the mass matrix for this box. This function is only meaningful if the box's size and material hav...
Definition: OrientedBox.hh:265
bool operator!=(const OrientedBox< T > &_b) const
Inequality test operator.
Definition: OrientedBox.hh:170
virtual ~OrientedBox()
Destructor.
Definition: OrientedBox.hh:92
T ZLength() const
Get the length along the z dimension.
Definition: OrientedBox.hh:112
void Pose(Pose3< T > &_pose)
Set the box pose.
Definition: OrientedBox.hh:142
OrientedBox & operator=(const OrientedBox< T > &_b)
Assignment operator. Set this box to the parameter.
Definition: OrientedBox.hh:150
T DensityFromMass(const T _mass) const
Compute the box's density given a mass value. The box is assumed to be solid with uniform density....
Definition: OrientedBox.hh:231
const Pose3< T > & Pose() const
Get the box pose, which is the pose of its center.
Definition: OrientedBox.hh:126
OrientedBox(const Vector3< T > &_size, const Pose3< T > &_pose, const Material &_mat)
Constructor which takes size, pose, and material.
Definition: OrientedBox.hh:60
T XLength() const
Get the length along the x dimension.
Definition: OrientedBox.hh:98
OrientedBox(const Vector3< T > &_size, const Pose3< T > &_pose)
Constructor which takes size and pose.
Definition: OrientedBox.hh:50
OrientedBox(const Vector3< T > &_size)
Constructor which takes only the size.
Definition: OrientedBox.hh:69
bool Contains(const Vector3d &_p) const
Check if a point lies inside the box.
Definition: OrientedBox.hh:191
void Size(Vector3< T > &_size)
Set the box size.
Definition: OrientedBox.hh:134
T Volume() const
Get the volume of the box in m^3.
Definition: OrientedBox.hh:218
friend std::ostream & operator<<(std::ostream &_out, const OrientedBox< T > &_b)
Output operator.
Definition: OrientedBox.hh:180
OrientedBox(const Vector3< T > &_size, const Material &_mat)
Constructor which takes only the size.
Definition: OrientedBox.hh:78
T YLength() const
Get the length along the y dimension.
Definition: OrientedBox.hh:105
const Material & Material() const
Get the material associated with this box.
Definition: OrientedBox.hh:204
OrientedBox()
Default constructor.
Definition: OrientedBox.hh:42
const Vector3< T > & Size() const
Get the size of the box.
Definition: OrientedBox.hh:119
OrientedBox(const OrientedBox< T > &_b)
Copy constructor.
Definition: OrientedBox.hh:86
The Vector3 class represents the generic vector containing 3 elements. Since it's commonly used to ke...
Definition: Vector3.hh:42
Vector3 Abs() const
Get the absolute value of the vector.
Definition: Vector3.hh:229
Definition: Angle.hh:43