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 semiaxes 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 semiaxes, 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 semiaxes, 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 semiaxes, 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 semiaxes, 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. 

final 
double a  (  )  const 
double b  (  )  const 
double c  (  )  const 