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Backport: Adding cone primitives. (#594)
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Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
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bperseghetti committed Jun 17, 2024
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193 changes: 193 additions & 0 deletions include/gz/math/Cone.hh
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/*
* Copyright 2024 CogniPilot Foundation
* Copyright 2024 Open Source Robotics Foundation
* Copyright 2024 Rudis Laboratories
*
* 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 GZ_MATH_CONE_HH_
#define GZ_MATH_CONE_HH_

#include <optional>
#include "gz/math/MassMatrix3.hh"
#include "gz/math/Material.hh"
#include "gz/math/Quaternion.hh"

namespace gz
{
namespace math
{
// Foward declarations
class ConePrivate;

// Inline bracket to help doxygen filtering.
inline namespace GZ_MATH_VERSION_NAMESPACE {
//
/// \class Cone Cone.hh gz/math/Cone.hh
/// \brief A representation of a cone.
///
/// The cone class supports defining a cone with a radius,
/// length, rotational offset, and material properties. Radius and
/// length are in meters. See Material for more on material properties.
/// By default, a cone's length is aligned with the Z axis where the base
/// of the cone is proximal to the origin and vertex points in positive Z.
/// The rotational offset encodes a rotation from the z axis.
template<typename Precision>
class Cone
{
/// \brief Default constructor. The default radius and length are both
/// zero. The default rotational offset is
/// Quaternion<Precision>::Identity.
public: Cone() = default;

/// \brief Construct a cone with a length, radius, and optionally
/// a rotational offset.
/// \param[in] _length Length of the cone.
/// \param[in] _radius Radius of the cone.
/// \param[in] _rotOffset Rotational offset of the cone.
public: Cone(const Precision _length, const Precision _radius,
const Quaternion<Precision> &_rotOffset =
Quaternion<Precision>::Identity);

/// \brief Construct a cone with a length, radius, material and
/// optionally a rotational offset.
/// \param[in] _length Length of the cone.
/// \param[in] _radius Radius of the cone.
/// \param[in] _mat Material property for the cone.
/// \param[in] _rotOffset Rotational offset of the cone.
public: Cone(const Precision _length, const Precision _radius,
const Material &_mat,
const Quaternion<Precision> &_rotOffset =
Quaternion<Precision>::Identity);

/// \brief Get the radius in meters.
/// \return The radius of the cone in meters.
public: Precision Radius() const;

/// \brief Set the radius in meters.
/// \param[in] _radius The radius of the cone in meters.
public: void SetRadius(const Precision _radius);

/// \brief Get the length in meters.
/// \return The length of the cone in meters.
public: Precision Length() const;

/// \brief Set the length in meters.
/// \param[in] _length The length of the cone in meters.
public: void SetLength(const Precision _length);

/// \brief Get the rotational offset. By default, a cone's length
/// is aligned with the Z axis. The rotational offset encodes
/// a rotation from the z axis.
/// \return The cone's rotational offset.
/// \sa void SetRotationalOffset(const Quaternion<Precision> &_rot)
public: Quaternion<Precision> RotationalOffset() const;

/// \brief Set the rotation offset.
/// \param[in] _rotOffset rotational offset quaternion.
/// See Quaternion<Precision> RotationalOffset() for details on the
/// rotational offset.
/// \sa Quaternion<Precision> RotationalOffset() const
public: void SetRotationalOffset(
const Quaternion<Precision> &_rotOffset);

/// \brief Get the material associated with this cone.
/// \return The material assigned to this cone
public: const Material &Mat() const;

/// \brief Set the material associated with this cone.
/// \param[in] _mat The material assigned to this cone
public: void SetMat(const Material &_mat);

/// \brief Get the mass matrix for this cone. This function
/// is only meaningful if the cone's radius, length, and material
/// have been set. Optionally, set the rotational offset.
/// \param[out] _massMat The computed mass matrix will be stored
/// here.
/// \return False if computation of the mass matrix failed, which
/// could be due to an invalid radius (<=0), length (<=0), or density
/// (<=0).
public: bool MassMatrix(MassMatrix3d &_massMat) const;

/// \brief Get the mass matrix for this cone. This function
/// is only meaningful if the cone's radius, length, and material
/// have been set. Optionally, set the rotational offset.
/// \return The computed mass matrix if parameters are valid
/// (radius > 0), (length > 0) and (density > 0). Otherwise
/// std::nullopt is returned.
public: std::optional< MassMatrix3<Precision> > MassMatrix() const;

/// \brief Check if this cone is equal to the provided cone.
/// Radius, length, and material properties will be checked.
public: bool operator==(const Cone &_cone) const;

/// \brief Get the volume of the cone in m^3.
/// \return Volume of the cone in m^3.
public: Precision Volume() const;

/// \brief Compute the cone's density given a mass value. The
/// cone is assumed to be solid with uniform density. This
/// function requires the cone's radius and length to be set to
/// values greater than zero. The Material of the cone is ignored.
/// \param[in] _mass Mass of the cone, in kg. This value should be
/// greater than zero.
/// \return Density of the cone in kg/m^3. A negative value is
/// returned if radius, length or _mass is <= 0.
public: Precision DensityFromMass(const Precision _mass) const;

/// \brief Set the density of this cone based on a mass value.
/// Density is computed using
/// Precision DensityFromMass(const Precision _mass) const. The
/// cone is assumed to be solid with uniform density. This
/// function requires the cone's radius and length to be set to
/// values greater than zero. The existing Material density value is
/// overwritten only if the return value from this true.
/// \param[in] _mass Mass of the cone, in kg. This value should be
/// greater than zero.
/// \return True if the density was set. False is returned if the
/// cone's radius, length, or the _mass value are <= 0.
/// \sa Precision DensityFromMass(const Precision _mass) const
public: bool SetDensityFromMass(const Precision _mass);

/// \brief Radius of the cone.
private: Precision radius = 0.0;

/// \brief Length of the cone.
private: Precision length = 0.0;

/// \brief the cone's material.
private: Material material;

/// \brief Rotational offset.
private: Quaternion<Precision> rotOffset =
Quaternion<Precision>::Identity;
};

/// \typedef Cone<int> Conei
/// \brief Cone with integer precision.
typedef Cone<int> Conei;

/// \typedef Cone<double> Coned
/// \brief Cone with double precision.
typedef Cone<double> Coned;

/// \typedef Cone<float> Conef
/// \brief Cone with float precision.
typedef Cone<float> Conef;
}
}
}
#include "gz/math/detail/Cone.hh"

#endif
5 changes: 5 additions & 0 deletions include/gz/math/Helpers.hh
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Expand Up @@ -67,6 +67,11 @@ constexpr T IGN_MASSMATRIX3_DEFAULT_TOLERANCE = T(10);
/// \param[in] _radius Sphere radius
#define GZ_SPHERE_VOLUME(_radius) (4.0*GZ_PI*std::pow(_radius, 3)/3.0)

/// \brief Compute cone volume
/// \param[in] _r Cone base radius
/// \param[in] _l Cone length
#define GZ_CONE_VOLUME(_r, _l) (_l * GZ_PI * std::pow(_r, 2) / 3.0)

/// \brief Compute cylinder volume
/// \param[in] _r Cylinder base radius
/// \param[in] _l Cylinder length
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80 changes: 80 additions & 0 deletions include/gz/math/MassMatrix3.hh
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Expand Up @@ -18,6 +18,7 @@
#define GZ_MATH_MASSMATRIX3_HH_

#include <algorithm>
#include <cmath>
#include <limits>
#include <string>
#include <vector>
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return this->SetMoi(R * L * R.Transposed());
}

/// \brief Set inertial properties based on a Material and equivalent
/// cone aligned with Z axis.
/// \param[in] _mat Material that specifies a density. Uniform density
/// is used.
/// \param[in] _length Length of cone along Z axis.
/// \param[in] _radius Radius of cone.
/// \param[in] _rot Rotational offset of equivalent cone.
/// \return True if inertial properties were set successfully.
public: bool SetFromConeZ(const Material &_mat,
const T _length,
const T _radius,
const Quaternion<T> &_rot =
Quaternion<T>::Identity)
{
// Check that density, _radius and _length are strictly positive
// and that quaternion is valid
if (_mat.Density() <= 0 || _length <= 0 || _radius <= 0 ||
_rot == Quaternion<T>::Zero)
{
return false;
}
T volume = GZ_PI * _radius * _radius * _length / 3.0;
return this->SetFromConeZ(_mat.Density() * volume,
_length, _radius, _rot);
}

/// \brief Set inertial properties based on mass and equivalent cone
/// aligned with Z axis.
/// \param[in] _mass Mass to set.
/// \param[in] _length Length of cone along Z axis.
/// \param[in] _radius Radius of cone.
/// \param[in] _rot Rotational offset of equivalent cone.
/// \return True if inertial properties were set successfully.
public: bool SetFromConeZ(const T _mass,
const T _length,
const T _radius,
const Quaternion<T> &_rot =
Quaternion<T>::Identity)
{
// Check that _mass, _radius and _length are strictly positive
// and that quaternion is valid
if (_mass <= 0 || _length <= 0 || _radius <= 0 ||
_rot == Quaternion<T>::Zero)
{
return false;
}
this->SetMass(_mass);
return this->SetFromConeZ(_length, _radius, _rot);
}

/// \brief Set inertial properties based on equivalent cone
/// aligned with Z axis using the current mass value.
/// \param[in] _length Length of cone along Z axis.
/// \param[in] _radius Radius of cone.
/// \param[in] _rot Rotational offset of equivalent cone.
/// \return True if inertial properties were set successfully.
public: bool SetFromConeZ(const T _length,
const T _radius,
const Quaternion<T> &_rot)
{
// Check that _mass and _size are strictly positive
// and that quaternion is valid
if (this->Mass() <= 0 || _length <= 0 || _radius <= 0 ||
_rot == Quaternion<T>::Zero)
{
return false;
}

// Diagonal matrix L with principal moments
T radius2 = std::pow(_radius, 2);
Matrix3<T> L;
L(0, 0) = 3.0 * this->mass * (4.0 * radius2 +
std::pow(_length, 2)) / 80.0;
L(1, 1) = L(0, 0);
L(2, 2) = 3.0 * this->mass * radius2 / 10.0;
Matrix3<T> R(_rot);
return this->SetMoi(R * L * R.Transposed());
}

/// \brief Set inertial properties based on a Material and equivalent
/// cylinder aligned with Z axis.
/// \param[in] _mat Material that specifies a density. Uniform density
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