DART  6.7.3
ConeShape.hpp
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32 
33 #ifndef DART_DYNAMICS_CONESHAPE_HPP_
34 #define DART_DYNAMICS_CONESHAPE_HPP_
35 
36 #include "dart/dynamics/Shape.hpp"
37 
38 namespace dart {
39 namespace dynamics {
40 
43 class ConeShape : public Shape
44 {
45 public:
46 
50  ConeShape(double radius, double height);
51 
52  // Documentation inherited.
53  const std::string& getType() const override;
54 
56  static const std::string& getStaticType();
57 
59  double getRadius() const;
60 
62  void setRadius(double radius);
63 
65  double getHeight() const;
66 
68  void setHeight(double height);
69 
73  static double computeVolume(double radius, double height);
74 
81  static Eigen::Matrix3d computeInertia(
82  double radius, double height, double mass);
83 
84  // Documentation inherited.
85  Eigen::Matrix3d computeInertia(double mass) const override;
86 
87 protected:
88  // Documentation inherited.
89  void updateBoundingBox() const override;
90 
91  // Documentation inherited.
92  void updateVolume() const override;
93 
94 private:
96  double mRadius;
97 
99  double mHeight;
100 
101 };
102 
103 } // namespace dynamics
104 } // namespace dart
105 
106 #endif // DART_DYNAMICS_CONESHAPE_HPP_
ConeShape represents a three-dimensional geometric shape that tapers smoothly from a flat circular ba...
Definition: ConeShape.hpp:44
double mHeight
Height of the cylindrical part.
Definition: ConeShape.hpp:99
const std::string & getType() const override
Returns a string representing the shape type.
Definition: ConeShape.cpp:54
static const std::string & getStaticType()
Get shape type string for this shape.
Definition: ConeShape.cpp:60
static Eigen::Matrix3d computeInertia(double radius, double height, double mass)
Compute moments of inertia of a cone at the center of geometric center (half of the z-axis segment be...
Definition: ConeShape.cpp:107
void updateBoundingBox() const override
Updates bounding box.
Definition: ConeShape.cpp:122
ConeShape(double radius, double height)
Constructor.
Definition: ConeShape.cpp:44
void setHeight(double height)
Set the lateral height of the cone.
Definition: ConeShape.cpp:90
void setRadius(double radius)
Set the radius of the circular base.
Definition: ConeShape.cpp:73
double mRadius
Radius of the circular base.
Definition: ConeShape.hpp:96
void updateVolume() const override
Updates volume.
Definition: ConeShape.cpp:133
double getRadius() const
Get the radius of the circular base.
Definition: ConeShape.cpp:67
static double computeVolume(double radius, double height)
Compute volume from given properties.
Definition: ConeShape.cpp:101
double getHeight() const
Get the lateral height of the cone.
Definition: ConeShape.cpp:84
Definition: Shape.hpp:53
Definition: BulletCollisionDetector.cpp:63