shape_specification.h File Reference

Detailed Description

Provides the classes through which geometric shapes are introduced into SceneGraph.

This includes the specific classes which specify shapes as well as an interface for processing those specifications.

#include <filesystem>
#include <memory>
#include <string>
#include <variant>
#include "drake/common/drake_copyable.h"
#include "drake/common/eigen_types.h"
#include "drake/common/fmt_ostream.h"
#include "drake/geometry/mesh_source.h"
#include "drake/geometry/proximity/polygon_surface_mesh.h"
#include "drake/math/rigid_transform.h"

Include dependency graph for shape_specification.h:

This graph shows which files directly or indirectly include this file:

Classes
class	Shape
	The abstract base class for all shape specifications. More...
class	Box
	Definition of a box. More...
class	Capsule
	Definition of a capsule. More...
class	Convex
	Definition of a convex surface mesh. More...
class	Cylinder
	Definition of a cylinder. More...
class	Ellipsoid
	Definition of an ellipsoid. More...
class	HalfSpace
	Definition of a half space. More...
class	Mesh
	Definition of a general (possibly non-convex) mesh. More...
class	MeshcatCone
	Definition of a cone. More...
class	Sphere
	Definition of sphere. More...
class	ShapeReifier
	The interface for converting shape descriptions to real shapes. More...

Namespaces
	drake
	drake::geometry

Functions
double	CalcVolume (const Shape &shape)
	Calculates the volume (in meters^3) for the Shape. More...