Capsule Class Reference

Detailed Description

Definition of a capsule.

The capsule can be thought of as a cylinder with spherical caps attached. The capsule's length refers to the length of the cylindrical region, and the radius applies to both the cylinder and spherical caps. A capsule with zero length is a sphere of the given radius. And a capsule with zero radius is a line segment with the given length. The capsule is defined in its canonical frame C, centered on the frame origin and with the length of the capsule parallel with the frame's z-axis.

#include <drake/geometry/shape_specification.h>

Public Member Functions
	Capsule (double radius, double length)
	Constructs a capsule with the given radius and length.
	Capsule (const Vector2< double > &measures)
	Constructs a capsule with a vector of measures: radius and length.
	~Capsule () final
double	radius () const
double	length () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Capsule (const Capsule &)=default
Capsule &	operator= (const Capsule &)=default
	Capsule (Capsule &&)=default
Capsule &	operator= (Capsule &&)=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.
std::unique_ptr< Shape >	Clone () const
	Creates a unique copy of this shape.
std::string_view	type_name () const
	Returns the (unqualified) type name of this Shape, e.g., "Box".
std::string	to_string () const
	Returns a string representation of this shape.
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.

Additional Inherited Members
Protected Types inherited from Shape
using	VariantShapeConstPtr
	(Internal use only) All concrete subclasses, as const pointers.
Protected Member Functions inherited from Shape
	Shape ()
	(Internal use only) Constructor for use by derived classes.
	Shape (const Shape &)=default
	(Internal use only) For derived classes.
Shape &	operator= (const Shape &)=default
	(Internal use only) For derived classes.
	Shape (Shape &&)=default
	(Internal use only) For derived classes.
Shape &	operator= (Shape &&)=default
	(Internal use only) For derived classes.

Constructor & Destructor Documentation

Capsule() [1/4]

Capsule ( const Capsule & )

default

Capsule() [2/4]

Capsule ( Capsule && )

default

Capsule() [3/4]

Capsule	(	double	radius,
		double	length )

Constructs a capsule with the given radius and length.

Exceptions

std::exception

if any measure is not finite positive.

Capsule() [4/4]

Capsule ( const Vector2< double > & measures )

explicit

Constructs a capsule with a vector of measures: radius and length.

Exceptions

std::exception

if any measure is not finite positive.

~Capsule()

~Capsule ( )

final

Member Function Documentation

length()

double length

(

)

const

operator=() [1/2]

Capsule & operator= ( Capsule && )

default

operator=() [2/2]

Capsule & operator= ( const Capsule & )

default

radius()

double radius

(

)

const

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

• drake/geometry/shape_specification.h