text: /*
   * Copyright (C) 2012-2015 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 _GAZEBO_BOX_HH_
  #define _GAZEBO_BOX_HH_
  
  #include <iostream>
  #include <ignition/math/Box.hh>
  
  #include "gazebo/math/Vector3.hh"
  #include "gazebo/util/system.hh"
  
  namespace gazebo
  {
    namespace math
    {
      /// \addtogroup gazebo_math
      /// \{
  
      /// \class Box Box.hh math/gzmath.hh
      /// \brief Mathematical representation of a box and related functions.
      class GZ_MATH_VISIBLE Box
      {
        /// \brief Default constructor
        public: Box();
  
  
        /// \brief Constructor. This constructor will compute the box's
        /// minumum and maximum corners based on the two arguments.
        /// \param[in] _vec1 One corner of the box
        /// \param[in] _vec2 Another corner of the box
        public: Box(const Vector3 &_vec1, const Vector3 &_vec2);
  
        /// \brief Ignition math copy constructor
        /// \param[in] _box Ignition box to convert
        public: Box(const ignition::math::Box &_box);
  
        /// \brief Copy Constructor
        /// \param[in]  _b Box to copy
        public: Box(const Box &_b);
  
        /// \brief Destructor
        public: virtual ~Box();
  
        /// \brief Get the length along the x dimension
        /// \return Double value of the length in the x dimension
        public: double GetXLength() const;
  
        /// \brief Get the length along the y dimension
        /// \return Double value of the length in the y dimension
        public: double GetYLength() const;
  
        /// \brief Get the length along the z dimension
        /// \return Double value of the length in the z dimension
        public: double GetZLength() const;
  
        /// \brief Get the size of the box
        /// \return Size of the box
        public: math::Vector3 GetSize() const;
  
        /// \brief Get the box center
        /// \return The center position of the box
        public: math::Vector3 GetCenter() const;
  
        /// \brief Merge a box with this box
        /// \param[in]  _box Box to add to this box
        public: void Merge(const Box &_box);
  
        /// \brief Convert this box to an ignition::math::Box.
        /// \return This Box as an ignition::math::Box.
        public: ignition::math::Box Ign() const;
  
        /// \brief Assignment operator for ignition math
        /// \param[in] _b a new value
        /// \return The new box
        public: Box &operator=(const ignition::math::Box &_b);
  
        /// \brief Assignment operator. Set this box to the parameter
        /// \param[in]  _b Box to copy
        /// \return The new box.
        public: Box &operator =(const Box &_b);
  
        /// \brief Addition operator. result = this + _b
        /// \param[in] _b Box to add
        /// \return The new box
        public: Box operator+(const Box &_b) const;
  
        /// \brief Addition set operator. this = this + _b
        /// \param[in] _b Box to add
        /// \return This new box
        public: const Box &operator+=(const Box &_b);
  
        /// \brief Equality test operatoer
        /// \param[in] _b Box to test
        /// \return True if equal
        public: bool operator==(const Box &_b) const;
  
        /// \brief Subtract a vector from the min and max values
        /// \param _v The vector to use during subtraction
        /// \return The new box
        public: Box operator-(const Vector3 &_v);
  
        /// \brief Check if a point lies inside or on the box.
        /// \param[in] _p Point to check.
        /// \return True if the point is inside or on the box.
        public: bool Contains(const math::Vector3 &_p) const;
  
        /// \brief Output operator
        /// \param[in] _out Output stream
        /// \param[in] _b Box to output to the stream
        /// \return The stream
        public: friend std::ostream &operator<<(std::ostream &_out,
                                                 const gazebo::math::Box &_b)
        {
          _out << "Min[" << _b.min << "] Max[" << _b.max << "]";
  
          return _out;
        }
  
        /// \brief Minimum corner of the box
        public: Vector3 min;
  
        /// \brief Maximum corner of the box
        public: Vector3 max;
  
        /// \brief Enumeration of extents
        private: enum Extent {EXTENT_NULL, EXTENT_FINITE};
  
        /// \brief When set to EXTENT_NULL (in the default constructor)
        /// the min and max are not valid positions
        private: Extent extent;
      };
      /// \}
    }
  }
  
  #endif
  
  
  
  