DART  6.7.3
CylinderShape.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2019, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_DYNAMICS_CYLINDERSHAPE_HPP_
34 #define DART_DYNAMICS_CYLINDERSHAPE_HPP_
35 
36 #include "dart/dynamics/Shape.hpp"
37 
38 namespace dart {
39 namespace dynamics {
40 
41 class CylinderShape : public Shape {
42 public:
44  CylinderShape(double _radius, double _height);
45 
46  // Documentation inherited.
47  const std::string& getType() const override;
48 
50  static const std::string& getStaticType();
51 
53  double getRadius() const;
54 
56  void setRadius(double _radius);
57 
59  double getHeight() const;
60 
62  void setHeight(double _height);
63 
65  static double computeVolume(double radius, double height);
66 
68  static Eigen::Matrix3d computeInertia(
69  double radius, double height, double mass);
70 
71  // Documentation inherited.
72  Eigen::Matrix3d computeInertia(double mass) const override;
73 
74 protected:
75  // Documentation inherited.
76  void updateBoundingBox() const override;
77 
78  // Documentation inherited.
79  void updateVolume() const override;
80 
81 private:
83  double mRadius;
84 
86  double mHeight;
87 };
88 
89 } // namespace dynamics
90 } // namespace dart
91 
92 #endif // DART_DYNAMICS_CYLINDERSHAPE_HPP_
Definition: CylinderShape.hpp:41
static const std::string & getStaticType()
Returns shape type for this class.
Definition: CylinderShape.cpp:58
void updateVolume() const override
Updates volume.
Definition: CylinderShape.cpp:127
void setRadius(double _radius)
Definition: CylinderShape.cpp:71
static double computeVolume(double radius, double height)
Compute volume from given properties.
Definition: CylinderShape.cpp:99
double getRadius() const
Definition: CylinderShape.cpp:65
void setHeight(double _height)
Definition: CylinderShape.cpp:88
CylinderShape(double _radius, double _height)
Constructor.
Definition: CylinderShape.cpp:42
double getHeight() const
Definition: CylinderShape.cpp:82
double mRadius
Definition: CylinderShape.hpp:83
double mHeight
Height along z-axis.
Definition: CylinderShape.hpp:86
const std::string & getType() const override
Returns a string representing the shape type.
Definition: CylinderShape.cpp:52
static Eigen::Matrix3d computeInertia(double radius, double height, double mass)
Compute moments of inertia of a cylinder.
Definition: CylinderShape.cpp:105
void updateBoundingBox() const override
Updates bounding box.
Definition: CylinderShape.cpp:119
Definition: Shape.hpp:53
Definition: BulletCollisionDetector.cpp:63