Drake
Geometry Class Reference

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

Public Member Functions

 Geometry ()
 
virtual ~Geometry ()
 
virtual Geometryclone () const
 
Shape getShape () const
 
virtual void getPoints (Eigen::Matrix3Xd &points) 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 getBoundingBoxPoints (Eigen::Matrix3Xd &points) const
 
virtual void getTerrainContactPoints (Eigen::Matrix3Xd &points) const
 

Protected Member Functions

 Geometry (Shape shape)
 
 Geometry (const Geometry &)=default
 
void operator= (const Geometry &)=delete
 
void getBoundingBoxPoints (double x_half_width, double y_half_width, double z_half_width, Eigen::Matrix3Xd &points) const
 

Protected Attributes

Shape shape
 

Static Protected Attributes

static const int NUM_BBOX_POINTS = 8
 

Friends

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

Constructor & Destructor Documentation

◆ Geometry() [1/3]

Geometry ( )

◆ ~Geometry()

virtual ~Geometry ( )
inlinevirtual

◆ Geometry() [2/3]

Geometry ( Shape  shape)
explicitprotected

◆ Geometry() [3/3]

Geometry ( const Geometry )
protecteddefault

Member Function Documentation

◆ clone()

Geometry * clone ( ) const
virtual

Reimplemented in MeshPoints, Mesh, Capsule, Cylinder, Box, and Sphere.

◆ getBoundingBoxPoints() [1/2]

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

Reimplemented in MeshPoints, Mesh, Capsule, Cylinder, Box, and Sphere.

◆ getBoundingBoxPoints() [2/2]

void getBoundingBoxPoints ( double  x_half_width,
double  y_half_width,
double  z_half_width,
Eigen::Matrix3Xd &  points 
) const
protected

◆ getFaces()

virtual void getFaces ( TrianglesVector faces) const
inlinevirtual

Returns the faces making up this geometry as a vector of triangles.

Each triangle contains three indices into the vertex list returned by the Geometry getPoints() method.

Parameters
[out]facesReturns a vector of triangles describing this geometry.

Reimplemented in Mesh, and Box.

◆ getPoints()

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

Reimplemented in MeshPoints, Mesh, Capsule, Cylinder, Box, and Sphere.

◆ getShape()

Shape getShape ( ) const

◆ getTerrainContactPoints()

virtual void getTerrainContactPoints ( Eigen::Matrix3Xd &  points) const
inlinevirtual

Reimplemented in Box, and Sphere.

◆ hasFaces()

virtual bool hasFaces ( ) const
inlinevirtual
Returns
true if this geometry can return faces.

Reimplemented in Mesh, and Box.

◆ operator=()

void operator= ( const Geometry )
protecteddelete

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<< ( std::ostream &  out,
const Geometry gg 
)
friend

A toString method for this class.

Member Data Documentation

◆ NUM_BBOX_POINTS

const int NUM_BBOX_POINTS = 8
staticprotected

◆ shape

Shape shape
protected

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