cylinder.h
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35 
38 #ifndef FCL_SHAPE_CYLINDER_H
39 #define FCL_SHAPE_CYLINDER_H
40 
41 #include <iostream>
42 
44 
45 namespace fcl
46 {
47 
49 template <typename S_>
50 class FCL_EXPORT Cylinder : public ShapeBase<S_>
51 {
52 public:
53 
54  using S = S_;
55 
57  Cylinder(S radius, S lz);
58 
61 
63  S lz;
64 
66  void computeLocalAABB() override;
67 
69  NODE_TYPE getNodeType() const override;
70 
71  // Documentation inherited
72  S computeVolume() const override;
73 
74  // Documentation inherited
75  Matrix3<S> computeMomentofInertia() const override;
76 
79  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
80 
81  friend
82  std::ostream& operator<<(std::ostream& out, const Cylinder& cylinder) {
83  out << "Cylinder(r: " << cylinder.radius << ", lz: " << cylinder.lz << ")";
84  return out;
85  }
86 };
87 
90 
91 } // namespace fcl
92 
94 
95 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::Cylinder::operator<<
friend std::ostream & operator<<(std::ostream &out, const Cylinder &cylinder)
Definition: cylinder.h:82
fcl::Cylinder::S
S_ S
Definition: cylinder.h:54
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
shape_base.h
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
cylinder-inl.h
fcl::Cylinder
Center at zero cylinder.
Definition: cylinder.h:50
fcl::Cylinder::lz
S lz
Length along z axis.
Definition: cylinder.h:63
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::Cylinder::radius
S radius
Radius of the cylinder.
Definition: cylinder.h:60


fcl
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autogenerated on Tue Jun 22 2021 07:27:50