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. More...
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. More...
std::unique_ptr< Shape >	Clone () const
	Creates a unique copy of this shape. More...

Additional Inherited Members
Protected Member Functions inherited from Shape
template<typename S >
	Shape (ShapeTag< S > tag)
	Constructor available for derived class construction. More...
	Shape (const Shape &)=default
Shape &	operator= (const Shape &)=default
	Shape (Shape &&)=default
Shape &	operator= (Shape &&)=default

Constructor & Destructor Documentation

Capsule() [1/3]

Capsule ( const Capsule &  )

default

Capsule() [2/3]

Capsule ( Capsule &&  )

default

Capsule() [3/3]

Capsule	(	double	radius,
		double	length
	)

Constructs a capsule with the given radius and length.

Exceptions

std::exception

if radius or length are not strictly positive.

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