MeshcatCone Class Reference

Detailed Description

Definition of a cone.

Its point is at the origin, its height extends in the direction of the frame's +z axis. Or, more formally: a finite section of a Lorentz cone (aka "second-order cone"), defined by

 sqrt(x²/a² + y²/b²) ≤ z;  z ∈ [0, height],

where a and b are the lengths of the principal semi-axes of the horizontal section at z=height().

This shape is currently only supported by Meshcat. It will not appear in any renderings, proximity queries, or other visualizers.

#include <drake/geometry/shape_specification.h>

Public Member Functions
	MeshcatCone (double height, double a=1.0, double b=1.0)
	Constructs the parameterized cone. More...
	MeshcatCone (const Vector3< double > &measures)
	Constructs a cone with a vector of measures: height and principal semi-axes. More...
	~MeshcatCone () final
double	height () const
double	a () const
double	b () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	MeshcatCone (const MeshcatCone &)=default
MeshcatCone &	operator= (const MeshcatCone &)=default
	MeshcatCone (MeshcatCone &&)=default
MeshcatCone &	operator= (MeshcatCone &&)=default
Public Member Functions inherited from Shape
virtual	~Shape ()
void	Reify (ShapeReifier *reifier, void *user_data=nullptr) const
	Causes this description to be reified in the given reifier. More...
std::unique_ptr< Shape >	Clone () const
	Creates a unique copy of this shape. More...
std::string_view	type_name () const
	Returns the (unqualified) type name of this Shape, e.g., "Box". More...
std::string	to_string () const
	Returns a string representation of this shape. More...
template<typename ReturnType = void, typename Visitor >
decltype(auto)	Visit (Visitor &&visitor) const
	Calls the given visitor function with *this as the sole argument, but with *this downcast to be the shape's concrete subclass. More...

Additional Inherited Members
Protected Types inherited from Shape
using	VariantShapeConstPtr = std::variant< const Box *, const Capsule *, const Convex *, const Cylinder *, const Ellipsoid *, const HalfSpace *, const Mesh *, const MeshcatCone *, const Sphere * >
	(Internal use only) All concrete subclasses, as const pointers. More...
Protected Member Functions inherited from Shape
	Shape ()
	(Internal use only) Constructor for use by derived classes. More...
	Shape (const Shape &)=default
	(Internal use only) For derived classes. More...
Shape &	operator= (const Shape &)=default
	(Internal use only) For derived classes. More...
	Shape (Shape &&)=default
	(Internal use only) For derived classes. More...
Shape &	operator= (Shape &&)=default
	(Internal use only) For derived classes. More...

Constructor & Destructor Documentation

MeshcatCone() [1/4]

MeshcatCone ( const MeshcatCone &  )

default

MeshcatCone() [2/4]

MeshcatCone ( MeshcatCone &&  )

default

MeshcatCone() [3/4]

MeshcatCone ( double  height, double  a = 1.0, double  b = 1.0  )

explicit

Constructs the parameterized cone.

Exceptions

std::exception

if height, a, or b are not strictly positive.

MeshcatCone() [4/4]

MeshcatCone ( const Vector3< double > &  measures )

explicit

Constructs a cone with a vector of measures: height and principal semi-axes.

Exceptions

std::exception

if the measures are not strictly positive.

~MeshcatCone()

~MeshcatCone ( )

final

Member Function Documentation

a()

double a

(

)

const

b()

double b

(

)

const

height()

double height

(

)

const

operator=() [1/2]

MeshcatCone& operator= ( const MeshcatCone &  )

default

operator=() [2/2]

MeshcatCone& operator= ( MeshcatCone &&  )

default

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

• drake/geometry/shape_specification.h