/usr/include/SurgSim/Math/DoubleSidedPlaneShape.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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// Copyright 2013, SimQuest Solutions Inc.
//
// 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 SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H
#define SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Shape.h"
namespace SurgSim
{
namespace Math
{
SURGSIM_STATIC_REGISTRATION(DoubleSidedPlaneShape);
/// DoubleSidedPlaneShape: The XZ plane (d = 0) with normal pointing along
/// positive Y axis.
class DoubleSidedPlaneShape: public Shape
{
public:
/// Constructor
DoubleSidedPlaneShape();
SURGSIM_CLASSNAME(SurgSim::Math::DoubleSidedPlaneShape);
/// \return the type of the shape
int getType() const override;
/// Get the volume of the shape
/// \return The volume of the shape (in m-3)
double getVolume() const override;
/// Get the volumetric center of the shape
/// \return The center of the shape
Vector3d getCenter() const override;
/// Get the second central moment of the volume, commonly used
/// to calculate the moment of inertia matrix
/// \return The 3x3 symmetric second moment matrix
Matrix33d getSecondMomentOfVolume() const override;
/// Gets the d of the plane equation.
/// \return The value of d (always 0).
double getD() const;
/// Gets the normal of the plane equation.
/// \return The value of the normal (always Y axis).
Vector3d getNormal() const;
/// A DoubleSidedPlaneShape is always valid.
/// \return True.
bool isValid() const override;
};
}; // Math
}; // SurgSim
#endif // SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H
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