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| /* | ||
| * Copyright (C) 2016 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. | ||
| * | ||
| */ | ||
| #include <ignition/math/Helpers.hh> | ||
| #include "gazebo/common/EnumIface.hh" | ||
| #include "gazebo/common/MaterialDensity.hh" | ||
|
|
||
| using namespace gazebo; | ||
| using namespace common; | ||
|
|
||
| // Initialize enum iterator, and string converter | ||
| GZ_ENUM(MaterialType, | ||
| MaterialType::BEGIN, | ||
| MaterialType::END, | ||
| "Styrofoam", | ||
| "Pine", | ||
| "Wood", | ||
| "Oak", | ||
| "Ice", | ||
| "Water", | ||
| "Plastic", | ||
| "Concrete", | ||
| "Aluminum", | ||
| "Steel, Alloy", | ||
| "Steel, Stainless", | ||
| "Iron", | ||
| "Brass", | ||
| "Copper", | ||
| "Tungsten", | ||
| "end" | ||
| ) | ||
|
|
||
| // Initialize the materials | ||
| std::map<MaterialType, double> MaterialDensity::materials = | ||
| { | ||
| {MaterialType::STYROFOAM, 75.0}, | ||
| {MaterialType::PINE, 373.0}, | ||
| {MaterialType::WOOD, 700.0}, | ||
| {MaterialType::OAK, 710.0}, | ||
| {MaterialType::ICE, 916.0}, | ||
| {MaterialType::WATER, 1000.0}, | ||
| {MaterialType::PLASTIC, 1175.0}, | ||
| {MaterialType::CONCRETE, 2000.0}, | ||
| {MaterialType::ALUMINUM, 2700.0}, | ||
| {MaterialType::STEEL_ALLOY, 7600.0}, | ||
| {MaterialType::STEEL_STAINLESS, 7800.0}, | ||
| {MaterialType::IRON, 7870.0}, | ||
| {MaterialType::BRASS, 8600.0}, | ||
| {MaterialType::COPPER, 8940.0}, | ||
| {MaterialType::TUNGSTEN, 19300.0} | ||
| }; | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| const std::map<MaterialType, double> &MaterialDensity::Materials() | ||
| { | ||
| return materials; | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| double MaterialDensity::Density(const std::string &_material) | ||
| { | ||
| MaterialType type = MaterialType::END; | ||
| EnumIface<MaterialType>::Set(type, _material); | ||
|
|
||
| if (type != MaterialType::END) | ||
| return materials[type]; | ||
| else | ||
| return -1; | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| double MaterialDensity::Density(const MaterialType _material) | ||
| { | ||
| return materials[_material]; | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| std::tuple<MaterialType, double> MaterialDensity::Nearest( | ||
| const double _value, const double _epsilon) | ||
| { | ||
| double min = IGN_DBL_MAX; | ||
| std::tuple<MaterialType, double> result | ||
| { | ||
| MaterialType::END, -1.0 | ||
| }; | ||
|
|
||
| for (auto const &mat : materials) | ||
| { | ||
| double diff = std::fabs(mat.second - _value); | ||
| if (diff < min && diff < _epsilon) | ||
| { | ||
| min = diff; | ||
| result = mat; | ||
| } | ||
| } | ||
|
|
||
| return result; | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| MaterialType MaterialDensity::NearestMaterial(const double _value, | ||
| const double _epsilon) | ||
| { | ||
| return std::get<0>(Nearest(_value, _epsilon)); | ||
| } |
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