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rAKA/extra_packages/contact_alejandro/src/common/aka_plane.hh
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aka_plane.hh
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/**
* @file aka_plane.hh
*
* @author Alejandro M. Aragón <alejandro.aragon@epfl.ch>
*
* @date creation: Sun Sep 26 2010
* @date last modification: Sun Oct 19 2014
*
* @brief Geometry class representing planes
*
* @section LICENSE
*
* Copyright (©) 2010-2012, 2014, 2015 EPFL (Ecole Polytechnique Fédérale de
* Lausanne) Laboratory (LSMS - Laboratoire de Simulation en Mécanique des
* Solides)
*
* Akantu is free software: you can redistribute it and/or modify it under the
* terms of the GNU Lesser General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* Akantu is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with Akantu. If not, see <http://www.gnu.org/licenses/>.
*
*/
/* -------------------------------------------------------------------------- */
#ifndef __AKANTU_AKA_PLANE_HH__
#define __AKANTU_AKA_PLANE_HH__
#include "aka_point.hh"
__BEGIN_AKANTU__
//! Plane class
struct Plane {
typedef Point<3> point_type;
typedef point_type::value_type value_type;
//! Parameter constructor creates a plane out of 3 points
Plane(const point_type& a, const point_type& b, const point_type& c) {
n_ = cross(b - a, c - a).normalize();
d_ = n_*a;
}
//! Return the plane normal
const point_type& normal() const
{ return n_; }
//! Return the disctance to the origin
value_type distance() const
{ return d_; }
//! Standard output stream operator
friend std::ostream& operator<<(std::ostream& os, const Plane& pi) {
os<<"Plane[normal: "<<pi.normal()<<", origin distance: "<<pi.distance()<<"]"<<std::endl;
return os;
}
private:
point_type n_; //!< Plane unit normal
value_type d_; //!< Distance from the plane to the origin
};
__END_AKANTU__
#endif /* __AKANTU_AKA_PLANE_HH__ */
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