MeshcatCone Class Reference

Detailed Description

Definition of a cone.

Its point is at the origin, its height extends in the direction of the frame's +z axis. Or, more formally: a finite section of a Lorentz cone (aka "second-order cone"), defined by

 sqrt(x²/a² + y²/b²) ≤ z;  z ∈ [0, height],

where a and b are the lengths of the principal semi-axes of the horizontal section at z=height().

This shape is currently only supported by Meshcat. It will not appear in any renderings, proximity queries, or other visualizers.

#include <drake/geometry/shape_specification.h>

Public Member Functions
	MeshcatCone (double height, double a=1.0, double b=1.0)
	Constructs the parameterized cone. More...
	MeshcatCone (const Vector3< double > &measures)
	Constructs a cone with a vector of measures: height and principal semi-axes. More...
double	height () const
double	a () const
double	b () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	MeshcatCone (const MeshcatCone &)=default
MeshcatCone &	operator= (const MeshcatCone &)=default
	MeshcatCone (MeshcatCone &&)=default
MeshcatCone &	operator= (MeshcatCone &&)=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

MeshcatCone() [1/4]

MeshcatCone ( const MeshcatCone &  )

default

MeshcatCone() [2/4]

MeshcatCone ( MeshcatCone &&  )

default

MeshcatCone() [3/4]

MeshcatCone ( double  height, double  a = 1.0, double  b = 1.0  )

explicit

Constructs the parameterized cone.

Exceptions

std::exception

if height, a, or b are not strictly positive.

MeshcatCone() [4/4]

MeshcatCone ( const Vector3< double > &  measures )

explicit

Constructs a cone with a vector of measures: height and principal semi-axes.

Exceptions

std::exception

if the measures are not strictly positive.

Member Function Documentation

a()

double a

(

)

const

b()

double b

(

)

const

height()

double height

(

)

const

operator=() [1/2]

MeshcatCone& operator= ( const MeshcatCone &  )

default

operator=() [2/2]

MeshcatCone& operator= ( MeshcatCone &&  )

default

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

• drake/geometry/shape_specification.h