/usr/include/rviz/geometry.h is in librviz-dev 1.12.4+dfsg-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 | /*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef GEOMETRY_H
#define GEOMETRY_H
namespace Ogre
{
class Plane;
class Vector3;
class Vector2;
}
namespace rviz
{
/** @brief Given a viewport and an x,y position in window-pixel coordinates,
* find the point on a plane directly behind it, if any.
* @return true if the intersection exists, false if it does not. */
bool getPointOnPlaneFromWindowXY( Ogre::Viewport* viewport,
Ogre::Plane& plane,
int window_x, int window_y,
Ogre::Vector3& intersection_out );
/** @brief Return the input angle mapped back to the range 0 to 2*PI. */
float mapAngleTo0_2Pi( float angle );
/** @brief Given a viewport and a 3D position in world coordinates,
* project that point into the view plane.
* @return The 2D floating-point pixel position of the projection. */
Ogre::Vector2 project3DPointToViewportXY(const Ogre::Viewport* view, const Ogre::Vector3& pos);
} // end namespace rviz
#endif
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