Drake
Drake C++ Documentation
Ellipsoid Class Referencefinal

Detailed Description

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...
 
double a () const
 
double b () const
 
double c () const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 Ellipsoid (const Ellipsoid &)=default
 
Ellipsoidoperator= (const Ellipsoid &)=default
 
 Ellipsoid (Ellipsoid &&)=default
 
Ellipsoidoperator= (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< ShapeClone () 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
 
Shapeoperator= (const Shape &)=default
 
 Shape (Shape &&)=default
 
Shapeoperator= (Shape &&)=default
 

Constructor & Destructor Documentation

◆ Ellipsoid() [1/4]

Ellipsoid ( const Ellipsoid )
default

◆ Ellipsoid() [2/4]

Ellipsoid ( Ellipsoid &&  )
default

◆ Ellipsoid() [3/4]

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.

Exceptions
std::exceptionif a, b, or c are not strictly positive.

◆ Ellipsoid() [4/4]

Ellipsoid ( const Vector3< double > &  measures)
explicit

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.

Exceptions
std::exceptionif the measures are not strictly positive.

Member Function Documentation

◆ a()

double a ( ) const

◆ b()

double b ( ) const

◆ c()

double c ( ) const

◆ operator=() [1/2]

Ellipsoid& operator= ( const Ellipsoid )
default

◆ operator=() [2/2]

Ellipsoid& operator= ( Ellipsoid &&  )
default

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