srs_env_model: testing_oriented

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00001 /******************************************************************************
00002  * \file
00003  *
00004  * $Id:$
00005  *
00006  * Copyright (C) Brno University of Technology
00007  *
00008  * This file is part of software developed by dcgm-robotics@FIT group.
00009  *
00010  * Author: Vit Stancl (stancl@fit.vutbr.cz)
00011  * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
00012  * Date: dd/mm/2012
00013  *
00014  * This file is free software: you can redistribute it and/or modify
00015  * it under the terms of the GNU Lesser General Public License as published by
00016  * the Free Software Foundation, either version 3 of the License, or
00017  * (at your option) any later version.
00018  *
00019  * This file is distributed in the hope that it will be useful,
00020  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00021  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00022  * GNU Lesser General Public License for more details.
00023  *
00024  * You should have received a copy of the GNU Lesser General Public License
00025  * along with this file.  If not, see <http://www.gnu.org/licenses/>.
00026  */
00027 
00028 #include <srs_env_model/but_server/plugins/octomap_plugin_tools/testing_oriented_box.h>
00029 
00033 srs_env_model::CTestingOrientedBox::CTestingOrientedBox()
00034 : m_minX( 0.0 )
00035 , m_minY( 0.0 )
00036 , m_minZ( 0.0 )
00037 , m_maxX( 0.0 )
00038 , m_maxY( 0.0 )
00039 , m_maxZ( 0.0 )
00040 {
00041 
00042 }
00043 
00047 srs_env_model::CTestingOrientedBox::CTestingOrientedBox( double minx, double miny, double minz, double maxx, double maxy, double maxz )
00048 : m_minX( minx )
00049 , m_minY( miny )
00050 , m_minZ( minz )
00051 , m_maxX( maxx )
00052 , m_maxY( maxy )
00053 , m_maxZ( maxz )
00054 {
00055 
00056 }
00057 
00061 void srs_env_model::CTestingOrientedBox::set( double minx, double miny, double minz, double maxx, double maxy, double maxz )
00062 {
00063         m_minX = minx; m_minY = miny; m_minZ = minz;
00064         m_maxX = maxx; m_maxY = maxy; m_maxZ = maxz;
00065 }
00066 
00070 void srs_env_model::CTestingOrientedBox::setCenterSize( double x, double y, double z, double sx, double sy, double sz )
00071 {
00072         // Compute half size from sizes
00073         double shx( sx / 2 ), shy( sy / 2), shz( sz / 2 );
00074 
00075         m_minX = x - shx; m_maxX = x + shx;
00076         m_minY = y - shy; m_maxY = y + shy;
00077         m_minZ = z - shz; m_maxZ = z + shz;
00078 }
00082 bool srs_env_model::CTestingOrientedBox::isIn( double x, double y, double z )
00083 {
00084         return ( x >= m_minX ) && ( x < m_maxX ) && ( y >= m_minY ) && ( y < m_maxY ) && ( z >= m_minZ ) && ( z < m_maxZ );
00085 }