plane.cpp

Go to the documentation of this file.

 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/nvp.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/utils.h>
#include <tesseract_geometry/impl/plane.h>
 
namespace tesseract_geometry
{
Plane::Plane(double a, double b, double c, double d) : Geometry(GeometryType::PLANE), a_(a), b_(b), c_(c), d_(d) {}
 
double Plane::getA() const { return a_; }
double Plane::getB() const { return b_; }
double Plane::getC() const { return c_; }
double Plane::getD() const { return d_; }
 
Geometry::Ptr Plane::clone() const { return std::make_shared<Plane>(a_, b_, c_, d_); }
 
bool Plane::operator==(const Plane& rhs) const
{
  bool equal = true;
  equal &= Geometry::operator==(rhs);
  equal &= tesseract_common::almostEqualRelativeAndAbs(a_, rhs.a_);
  equal &= tesseract_common::almostEqualRelativeAndAbs(b_, rhs.b_);
  equal &= tesseract_common::almostEqualRelativeAndAbs(c_, rhs.c_);
  equal &= tesseract_common::almostEqualRelativeAndAbs(d_, rhs.d_);
  return equal;
}
bool Plane::operator!=(const Plane& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void Plane::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Geometry);
  ar& BOOST_SERIALIZATION_NVP(a_);
  ar& BOOST_SERIALIZATION_NVP(b_);
  ar& BOOST_SERIALIZATION_NVP(c_);
  ar& BOOST_SERIALIZATION_NVP(d_);
}
}  // namespace tesseract_geometry
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_geometry::Plane)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_geometry::Plane)