coal::Cylinder Class Reference

Cylinder along Z axis. The cylinder is defined at its centroid. More...

#include <coal/shape/geometric_shapes.h>

Inheritance diagram for coal::Cylinder:

Collaboration diagram for coal::Cylinder:

Public Member Functions
	Cylinder ()
	Default constructor.
	Cylinder (Scalar radius_, Scalar lz_)
	Cylinder (const Cylinder &other)
Cylinder &	operator= (const Cylinder &other)
virtual Cylinder *	clone () const
	Clone *this into a new Cylinder.
void	computeLocalAABB ()
	Compute AABB.
NODE_TYPE	getNodeType () const
	Get node type: a cylinder.
Scalar	computeVolume () const
	compute the volume
Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin
Scalar	minInflationValue () const
std::pair< Cylinder, Transform3s >	inflated (const Scalar value) const
	Inflate the cylinder by an amount given by value. This value can be positive or negative but must always >= minInflationValue().
Public Member Functions inherited from coal::ShapeBase
	ShapeBase ()
	ShapeBase (const ShapeBase &other)
ShapeBase &	operator= (const ShapeBase &other)=default
virtual	~ShapeBase ()
OBJECT_TYPE	getObjectType () const
	Get object type: a geometric shape.
void	setSweptSphereRadius (Scalar radius)
	Set radius of sphere swept around the shape. Must be >= 0.
Scalar	getSweptSphereRadius () const
	Get radius of sphere swept around the shape. This radius is always >= 0.
Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()
	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor.
virtual	~CollisionGeometry ()
bool	operator== (const CollisionGeometry &other) const
	Equality operator.
bool	operator!= (const CollisionGeometry &other) const
	Difference operator.
void *	getUserData () const
	get user data in geometry
void	setUserData (void *data)
	set user data in geometry
bool	isOccupied () const
	whether the object is completely occupied
bool	isFree () const
	whether the object is completely free
bool	isUncertain () const
	whether the object has some uncertainty
virtual Vec3s	computeCOM () const
	compute center of mass
virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Public Attributes
Scalar	radius
	Radius of the cylinder.
Scalar	halfLength
	Half Length along z axis.
Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate.
Scalar	aabb_radius
	AABB radius.
AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.
void *	user_data
	pointer to user defined data specific to this object
Scalar	cost_density
	collision cost for unit volume
Scalar	threshold_occupied
	threshold for occupied ( >= is occupied)
Scalar	threshold_free
	threshold for free (<= is free)

Additional Inherited Members
Protected Attributes inherited from coal::ShapeBase
Scalar	m_swept_sphere_radius {0}
	Radius of the sphere swept around the shape. Default value is 0. Note: this property differs from inflated method of certain derived classes (e.g. Box, Sphere, Ellipsoid, Capsule, Cone, Cylinder) in the sense that inflated returns a new shape which can be inflated but also deflated. Also, an inflated shape is not rounded. It simply has a different size. Sweeping a shape with a sphere is a different operation (a Minkowski sum), which rounds the sharp corners of a shape. The swept sphere radius is a property of the shape itself and can be manually updated between collision checks.

Detailed Description

Cylinder along Z axis. The cylinder is defined at its centroid.

Constructor & Destructor Documentation

Cylinder() [1/3]

coal::Cylinder::Cylinder ( )

inline

Default constructor.

Cylinder() [2/3]

coal::Cylinder::Cylinder ( Scalar  radius_, Scalar  lz_  )

inline

Cylinder() [3/3]

coal::Cylinder::Cylinder ( const Cylinder &  other )

inline

Member Function Documentation

clone()

virtual Cylinder * coal::Cylinder::clone ( ) const

inlinevirtual

Clone *this into a new Cylinder.

Implements coal::CollisionGeometry.

computeLocalAABB()

void coal::Cylinder::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

computeMomentofInertia()

Matrix3s coal::Cylinder::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

computeVolume()

Scalar coal::Cylinder::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

getNodeType()

NODE_TYPE coal::Cylinder::getNodeType ( ) const

inlinevirtual

Get node type: a cylinder.

Reimplemented from coal::CollisionGeometry.

inflated()

std::pair< Cylinder, Transform3s > coal::Cylinder::inflated ( const Scalar  value ) const

inline

Inflate the cylinder by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in]

value

of the shape inflation.

Returns

a new inflated cylinder and the related transform to account for the change of shape frame

minInflationValue()

Scalar coal::Cylinder::minInflationValue ( ) const

inline

operator=()

Cylinder & coal::Cylinder::operator= ( const Cylinder &  other )

inline

Member Data Documentation

halfLength

Scalar coal::Cylinder::halfLength

Half Length along z axis.

radius

Scalar coal::Cylinder::radius

Radius of the cylinder.

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

• include/coal/shape/geometric_shapes.h