EllipsoidShape.hpp

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#ifndef DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_
#define DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_
 
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class EllipsoidShape : public Shape
{
public:
  explicit EllipsoidShape(const Eigen::Vector3d& diameters);
  // TODO(JS): In order to follow the commonly used convention, change the
  // constructor to take radii instead of diameters in DART 7.
 
  virtual ~EllipsoidShape();
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  DART_DEPRECATED(6.2)
  void setSize(const Eigen::Vector3d& diameters);
 
  DART_DEPRECATED(6.2)
  const Eigen::Vector3d& getSize() const;
 
  void setDiameters(const Eigen::Vector3d& diameters);
 
  const Eigen::Vector3d& getDiameters() const;
 
  void setRadii(const Eigen::Vector3d& radii);
 
  const Eigen::Vector3d getRadii() const;
 
  static double computeVolume(const Eigen::Vector3d& diameters);
  // TODO(JS): In order to follow the commonly used convention, change to take
  // radii instead of diameters in DART 7.
 
  static Eigen::Matrix3d computeInertia(
      const Eigen::Vector3d& diameters, double mass);
  // TODO(JS): In order to follow the commonly used convention, change to take
  // radii instead of diameters in DART 7.
 
  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;
 
  // Documentation inherited.
  ShapePtr clone() const override;
 
  bool isSphere(void) const;
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  // Documentation inherited.
  void updateVolume() const override;
 
private:
  Eigen::Vector3d mDiameters;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_