Brings BoundingRegion's related stuff from maliput_object.

include/maliput/math/bounding_box.h

@@ -0,0 +1,102 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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 copyright holder 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 HOLDER 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.
+#pragma once
+
+#include <vector>
+
+#include "maliput/common/maliput_copyable.h"
+#include "maliput/math/bounding_region.h"
+#include "maliput/math/overlapping_type.h"
+#include "maliput/math/roll_pitch_yaw.h"
+#include "maliput/math/vector.h"
+
+namespace maliput {
+namespace math {
+
+/// Implements BoundingRegion abstract class for non-axis-aligned-box-shaped bounding regions.
+class BoundingBox : public BoundingRegion<Vector3> {
+ public:
+  MALIPUT_DEFAULT_COPY_AND_MOVE_AND_ASSIGN(BoundingBox)
+
+  /// Constructs a BoundingBox object.
+  /// The box is defined by a position, dimensions(length, width and height) and orientation.
+  /// @param position Position of the bounding box in the Inertial-frame. The position matches with the centroid of the
+  /// box.
+  /// @param box_size The size of the bounding box on XYZ (length/width,height)
+  /// @param orientation Orientation of the box in the Inertial-frame.
+  /// @param tolerance Used to compute IsBoxContained() and IsBoxIntersected() against other BoundingBoxes.
+  /// @throws maliput::common::assertion_error When tolerance or any box_size's component are negative.
+  BoundingBox(const Vector3& position, const Vector3& box_size, const RollPitchYaw& orientation, double tolerance);
+
+  ~BoundingBox() = default;
+
+  /// @returns The vertices of the bounding box in the Inertial-frame.
+  std::vector<Vector3> get_vertices() const;
+
+  /// @returns The orientation of the box in the Inertial-frame.
+  const RollPitchYaw& get_orientation() const;
+
+  /// @returns The size of the box in length, width and height.
+  const Vector3& box_size() const;
+
+  /// @returns True when this region contains @p other .
+  bool IsBoxContained(const BoundingBox& other) const;
+
+  /// @returns True when this region intersects @p other .
+  bool IsBoxIntersected(const BoundingBox& other) const;
+
+ private:
+  /// Implements BoundingRegion::do_position() method.
+  /// @returns Position of the box.
+  const Vector3& do_position() const override;
+
+  /// Implements BoundingRegion::DoContains() method.
+  /// @param position Inertial-frame's coordinate.
+  /// @returns True when @p position is contained in this bounding region.
+  bool DoContains(const Vector3& position) const override;
+
+  /// Implements BoundingRegion::DoOverlaps() method.
+  /// Valid @p other 's implementations:
+  ///  - BoundingBox
+  /// @param other Another bounding region.
+  /// @returns The overlapping type.
+  OverlappingType DoOverlaps(const BoundingRegion<Vector3>& other) const override;
+
+  Vector3 position_;
+  Vector3 box_size_;
+  RollPitchYaw orientation_;
+  double tolerance_{};
+
+  // Half sized box dimensions.
+  Vector3 xyz_2_;
+};
+
+}  // namespace math
+}  // namespace maliput

include/maliput/math/bounding_region.h

@@ -0,0 +1,75 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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 copyright holder 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 HOLDER 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.
+#pragma once
+
+#include "maliput/common/maliput_copyable.h"
+#include "maliput/math/overlapping_type.h"
+
+namespace maliput {
+namespace math {
+
+/// Abstract API for bounding description.
+/// @tparam Coordinate Coordinate in a given coordinate system.
+template <typename Coordinate>
+class BoundingRegion {
+ public:
+  MALIPUT_DEFAULT_COPY_AND_MOVE_AND_ASSIGN(BoundingRegion)
+
+  virtual ~BoundingRegion() = default;
+
+  /// Obtains the bounding region's position in the Inertial-frame.
+  /// The position is expected to match the centroid of the bounding region.
+  /// @returns The position coordinate.
+  const Coordinate& position() const { return do_position(); }
+
+  /// Determines whether a @p position in the Inertial-frame is contained in this bounding region.
+  /// @param position Inertial-frame's coordinate.
+  /// @returns True when @p position is contained in this bounding region.
+  bool Contains(const Coordinate& position) const { return DoContains(position); }
+
+  /// Determines the overlapping type with @p other BoundingRegion instance.
+  /// - OverlappingType::kDisjointed is returned when there is no overlapping with @p other .
+  /// - OverlappingType::kIntersected is returned when @p other intersects with this region.
+  /// - OverlappingType::kContained is returned when @p other is contained within this region.
+  /// @param other Another BoundingRegion.
+  /// @returns The overlapping type.
+  OverlappingType Overlaps(const BoundingRegion<Coordinate>& other) const { return DoOverlaps(other); }
+
+ protected:
+  BoundingRegion() = default;
+
+ private:
+  virtual const Coordinate& do_position() const = 0;
+  virtual bool DoContains(const Coordinate& position) const = 0;
+  virtual OverlappingType DoOverlaps(const BoundingRegion<Coordinate>& other) const = 0;
+};
+
+}  // namespace math
+}  // namespace maliput

include/maliput/math/overlapping_type.h

@@ -0,0 +1,63 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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 copyright holder 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 HOLDER 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.
+#pragma once
+
+namespace maliput {
+namespace math {
+
+/// Holds the possible overlapping types between regions.
+///
+/// Given two sets `A` and `B` :
+/// - `A` intersects `B` iff `A` and `B` have at least one point in common.
+/// - `A` contains `B` iff `A` contains all the points of `B`.
+/// - `A` disjoints `B` iff `A` and `B` have no points in common.
+///
+///  - Example of use:
+/// @code {.cpp}
+/// OverlappingType MyMethod();
+/// ...
+/// if(OverlappingType::kIntersected & MyMethod() == OverlappingType::kIntersected) {
+///  // Do something.
+/// }
+/// @endcode
+enum class OverlappingType : unsigned int {
+  kDisjointed = 0,   ///< No overlapping between bounding regions
+  kIntersected = 1,  ///< Bounding regions are intersected.
+  kContained = 3,    ///< Bounding regions are contained.
+};
+
+// Union operator.
+OverlappingType operator|(const OverlappingType& first, const OverlappingType& second);
+
+// Intersection operator.
+OverlappingType operator&(const OverlappingType& first, const OverlappingType& second);
+
+}  // namespace math
+}  // namespace maliput

include/maliput/test_utilities/mock_math.h

@@ -0,0 +1,53 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2022, Woven Planet.
+// 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 copyright holder 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 HOLDER 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.
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+
+#include "maliput/math/bounding_box.h"
+#include "maliput/math/overlapping_type.h"
+
+namespace maliput {
+namespace math {
+namespace test {
+
+class MockBoundingRegion : public BoundingRegion<Vector3> {
+ public:
+  MOCK_METHOD((const Vector3&), do_position, (), (const, override));
+  MOCK_METHOD((bool), DoContains, (const Vector3&), (const, override));
+  MOCK_METHOD((OverlappingType), DoOverlaps, (const BoundingRegion<Vector3>&), (const, override));
+};
+
+}  // namespace test
+}  // namespace math
+}  // namespace maliput

src/math/CMakeLists.txt

@@ -3,8 +3,10 @@
 ##############################################################################
 
 set(MATH_SOURCES
+  bounding_box.cc
   matrix.cc
   quaternion.cc
+  overlapping_type.cc
   roll_pitch_yaw.cc
   saturate.cc
   vector.cc