RobWorkProject
23.9.11-
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a cylinder primitive. By default the radius is in the x-y plane and height is along the z-axis More...
#include <Cylinder.hpp>
Inherits Primitive.
Public Member Functions | |
Cylinder (int levels=16) | |
constructor | |
Cylinder (float radius, float height, int levels=16) | |
Constructs cylinder primitive with the specified setup. More... | |
Cylinder (const rw::math::Q &initQ, int levels=16) | |
Constructor. More... | |
Cylinder (const rw::math::Transform3D<> &transform, float radius, float height, int levels=16) | |
Construct cylinder primitive with specified radius and height and with the given transform. More... | |
virtual | ~Cylinder () |
destructor | |
double | getRadius () const |
Get the radius of the cylinder. More... | |
double | getHeight () const |
Get the height of the cylinder. More... | |
const rw::math::Transform3D< float > & | getTransform () const |
Returns the transform of the cylinder. More... | |
TriMesh::Ptr | createMesh (int resolution) const |
make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into More... | |
virtual rw::math::Q | getParameters () const |
get the parameters that define this primitive More... | |
virtual void | setParameters (const rw::math::Q &q) |
set the parameters that define this primitive More... | |
GeometryType | getType () const |
the type of this primitive More... | |
Public Member Functions inherited from Primitive | |
virtual | ~Primitive () |
destructor | |
TriMesh::Ptr | getTriMesh (bool forceCopy=true) |
gets a trimesh representation of this geometry data. More... | |
virtual bool | isConvex () |
test if this geometry data is convex More... | |
bool | isInside (const rw::math::Vector3D< double > &point) |
test if a point is on the border or inside this primitive | |
Public Member Functions inherited from GeometryData | |
virtual | ~GeometryData () |
Destructor. | |
Additional Inherited Members | |
Public Types inherited from Primitive | |
typedef rw::core::Ptr< Primitive > | Ptr |
Smart pointer to this type of class. | |
Public Types inherited from GeometryData | |
enum | GeometryType { PointCloud , LineMesh , PlainTriMesh , IdxTriMesh , SpherePrim , BoxPrim , OBBPrim , AABBPrim , LinePrim , PointPrim , PyramidPrim , ConePrim , TrianglePrim , CylinderPrim , TubePrim , PlanePrim , RayPrim , Implicit , Quadratic , UserType } |
geometry data types | |
typedef rw::core::Ptr< GeometryData > | Ptr |
smart pointer type to this class | |
typedef rw::core::Ptr< const GeometryData > | CPtr |
const smart pointer type to this class | |
Static Public Member Functions inherited from GeometryData | |
static std::string | toString (GeometryType type) |
format GeometryType to string More... | |
Protected Member Functions inherited from Primitive | |
virtual bool | doIsInside (const rw::math::Vector3D< double > &point) |
Check if point lies inside geometry. More... | |
Primitive (int levels=20) | |
Constructor. More... | |
a cylinder primitive. By default the radius is in the x-y plane and height is along the z-axis
Cylinder | ( | float | radius, |
float | height, | ||
int | levels = 16 |
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) |
Constructs cylinder primitive with the specified setup.
The cylinder is aligned with the height in the z-direction.
radius | [in] radius of the cylinder. |
height | [in] height of the cylinder. |
levels | [in] granularity of the mesh |
Cylinder | ( | const rw::math::Q & | initQ, |
int | levels = 16 |
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) |
Constructor.
initQ | [in] vector with (height, radius) |
levels | [in] granularity of the mesh |
Cylinder | ( | const rw::math::Transform3D<> & | transform, |
float | radius, | ||
float | height, | ||
int | levels = 16 |
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) |
Construct cylinder primitive with specified radius and height and with the given transform.
The cylinder will be centered in the position of transform and oriented in the direction of the third column of the rotation matrix of transform.
transform | [in] The transform specifying how the pose of the cylinder |
radius | [in] radius of the cylinder. |
height | [in] height of the cylinder. |
levels | [in] granularity of the mesh |
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virtual |
make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into
resolution | [in] |
Implements Primitive.
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inline |
Get the height of the cylinder.
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virtual |
get the parameters that define this primitive
Implements Primitive.
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inline |
Get the radius of the cylinder.
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inline |
Returns the transform of the cylinder.
Default is the identity matrix unless a transform has been specified.
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inlinevirtual |
the type of this primitive
Implements GeometryData.
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virtual |
set the parameters that define this primitive
Implements Primitive.