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Drake
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Drake
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Definition of an ellipsoid.
It is centered on the origin of its canonical frame with its dimensions aligned with the frame's axes. The standard equation for the ellipsoid is:
x²/a² + y²/b² + z²/c² = 1,
where a,b,c are the lengths of the principal semi-axes of the ellipsoid. The bounding box of the ellipsoid is [-a,a]x[-b,b]x[-c,c].
#include <drake/geometry/shape_specification.h>
Public Member Functions | |
| Ellipsoid (double a, double b, double c) | |
| Constructs an ellipsoid with the given lengths of its principal semi-axes, with a, b, and c measured along the x-, y-, and z- axes of the canonical frame, respectively. More... | |
| Ellipsoid (const Vector3< double > &measures) | |
| Constructs an ellipsoid with a vector of measures: the lengths of its principal semi-axes, with a, b, and c measured along the x-, y-, and z- axes of the canonical frame, respectively. More... | |
| ~Ellipsoid () final | |
| double | a () const |
| double | b () const |
| double | c () const |
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable | |
| Ellipsoid (const Ellipsoid &)=default | |
| Ellipsoid & | operator= (const Ellipsoid &)=default |
| Ellipsoid (Ellipsoid &&)=default | |
| Ellipsoid & | operator= (Ellipsoid &&)=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... | |
Constructs an ellipsoid with the given lengths of its principal semi-axes, with a, b, and c measured along the x-, y-, and z- axes of the canonical frame, respectively.
| std::exception | if a, b, or c are not strictly positive. |
Constructs an ellipsoid with a vector of measures: the lengths of its principal semi-axes, with a, b, and c measured along the x-, y-, and z- axes of the canonical frame, respectively.
| std::exception | if the measures are not strictly positive. |
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final |
| double a | ( | ) | const |
| double b | ( | ) | const |
| double c | ( | ) | const |