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 <functional>
#include <memory>
#include <string>
#include "drake/common/drake_assert.h"
#include "drake/common/drake_copyable.h"
#include "drake/common/eigen_types.h"
#include "drake/math/rigid_transform.h"
Classes | |
struct | ShapeTag< ShapeType > |
Simple struct for instantiating the type-specific Shape functionality. More... | |
class | Shape |
The base interface for all shape specifications. More... | |
class | Sphere |
Definition of sphere. More... | |
class | Cylinder |
Definition of a cylinder. More... | |
class | Box |
Definition of a box. More... | |
class | Capsule |
Definition of a capsule. 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) triangular surface mesh. More... | |
class | Convex |
Definition of a convex surface mesh. More... | |
class | MeshcatCone |
Definition of a cone. More... | |
class | ShapeReifier |
The interface for converting shape descriptions to real shapes. More... | |
class | ShapeName |
Class that reports the name of the type of shape being reified (e.g., Sphere, Box, etc.) More... | |
Namespaces | |
drake | |
drake::geometry | |
Functions | |
double | CalcVolume (const Shape &shape) |
Calculates the volume (in meters^3) for the Shape. More... | |