Drake
Capsule Class Reference

#include <drake/multibody/shapes/geometry.h>

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Public Member Functions

 Capsule (double radius, double length)
 
virtual ~Capsule ()
 
virtual Capsuleclone () const
 
virtual void getPoints (Eigen::Matrix3Xd &points) const
 
virtual void getBoundingBoxPoints (Eigen::Matrix3Xd &points) const
 
- Public Member Functions inherited from Geometry
 Geometry ()
 
 Geometry (const Geometry &other)
 
virtual ~Geometry ()
 
Shape getShape () const
 
virtual bool hasFaces () const
 
virtual void getFaces (TrianglesVector *faces) const
 Returns the faces making up this geometry as a vector of triangles. More...
 
virtual void getTerrainContactPoints (Eigen::Matrix3Xd &points) const
 

Public Attributes

double radius
 
double length
 

Static Public Attributes

static const int NUM_POINTS = 2
 

Friends

std::ostream & operator<< (std::ostream &, const Capsule &)
 A toString method for this class. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Geometry
 Geometry (Shape shape)
 
void getBoundingBoxPoints (double x_half_width, double y_half_width, double z_half_width, Eigen::Matrix3Xd &points) const
 
- Protected Attributes inherited from Geometry
Shape shape
 
- Static Protected Attributes inherited from Geometry
static const int NUM_BBOX_POINTS = 8
 

Constructor & Destructor Documentation

Capsule ( double  radius,
double  length 
)

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virtual ~Capsule ( )
inlinevirtual

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Member Function Documentation

Capsule * clone ( ) const
virtual

Reimplemented from Geometry.

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void getBoundingBoxPoints ( Eigen::Matrix3Xd &  points) const
virtual

Reimplemented from Geometry.

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void getPoints ( Eigen::Matrix3Xd &  points) const
virtual

Reimplemented from Geometry.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  out,
const Capsule cc 
)
friend

A toString method for this class.

Member Data Documentation

double length
const int NUM_POINTS = 2
static
double radius

The documentation for this class was generated from the following files: