Package org.robwork.sdurw_geometry

Class Cylinder

java.lang.Object

org.robwork.sdurw_geometry.GeometryData

org.robwork.sdurw_geometry.Primitive

org.robwork.sdurw_geometry.Cylinder

public class Cylinder
extends Primitive

a cylinder primitive. By default the radius is in the x-y plane and height is along
the z-axis

Nested Class Summary

Nested classes/interfaces inherited from class org.robwork.sdurw_geometry.GeometryData

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
Cylinder()	constructor
Cylinder(float radius, float height)	Constructs cylinder primitive with the specified setup The cylinder is aligned with the height in the z-direction.
Cylinder(float radius, float height, int levels)	Constructs cylinder primitive with the specified setup The cylinder is aligned with the height in the z-direction.
Cylinder(int levels)	constructor
Cylinder(long cPtr, boolean cMemoryOwn)
Cylinder(Q initQ)	Constructor.
Cylinder(Q initQ, int levels)	Constructor.
Cylinder(Transform3D transform, float radius, float height)	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.
Cylinder(Transform3D transform, float radius, float height, int levels)	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.

Method Summary

Modifier and Type	Method	Description
TriMeshPtr	createMesh(int resolution)	make a trimesh from this primitive.
void	delete()
static long	getCPtr(Cylinder obj)
double	getHeight()	Get the height of the cylinder.
Q	getParameters()	get the parameters that define this primitive
double	getRadius()	Get the radius of the cylinder.
Transform3Df	getTransform()	Returns the transform of the cylinder. Default is the identity matrix unless a transform has been specified.
GeometryData.GeometryType	getType()	the type of this primitive
void	setParameters(Q q)	set the parameters that define this primitive

Methods inherited from class org.robwork.sdurw_geometry.Primitive

getCPtr, getTriMesh, getTriMesh, isConvex, isInside

Methods inherited from class org.robwork.sdurw_geometry.GeometryData

getCPtr, toString

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Cylinder

public Cylinder(long cPtr,
                boolean cMemoryOwn)

Cylinder

public Cylinder(int levels)

constructor

Cylinder

public Cylinder()

constructor

Cylinder

public Cylinder(float radius,
                float height,
                int levels)

Constructs cylinder primitive with the specified setup

The cylinder is aligned with the height in the z-direction.

Parameters:

radius - [in] radius of the cylinder.

height - [in] height of the cylinder.

levels - [in] granularity of the mesh

Cylinder

public Cylinder(float radius,
                float height)

Constructs cylinder primitive with the specified setup

The cylinder is aligned with the height in the z-direction.

Parameters:

radius - [in] radius of the cylinder.

height - [in] height of the cylinder.

Cylinder

public Cylinder(Q initQ,
                int levels)

Constructor.

Parameters:

initQ - [in] vector with (height, radius)

levels - [in] granularity of the mesh

Cylinder

public Cylinder(Q initQ)

Constructor.

Parameters:

initQ - [in] vector with (height, radius)

Cylinder

public Cylinder(Transform3D transform,
                float radius,
                float height,
                int levels)

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.

Parameters:

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

Cylinder

public Cylinder(Transform3D transform,
                float radius,
                float height)

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.

Parameters:

transform - [in] The transform specifying how the pose of the cylinder

radius - [in] radius of the cylinder.

height - [in] height of the cylinder.

Method Detail

getCPtr

public static long getCPtr(Cylinder obj)

delete

public void delete()

Overrides:

delete in class Primitive

getRadius

public double getRadius()

Get the radius of the cylinder.

Returns:

the radius.

getHeight

public double getHeight()

Get the height of the cylinder.

Returns:

the height.

getTransform

public Transform3Df getTransform()

Returns the transform of the cylinder.

Default is the identity matrix unless a transform has been specified.

Returns:

Transform of the cylinder

createMesh

public TriMeshPtr createMesh(int resolution)

Description copied from class: Primitive

make a trimesh from this primitive. Use granularity to
specify minimum number of line segments a half circle is split into

Overrides:

createMesh in class Primitive

Parameters:

resolution - [in]

getParameters

public Q getParameters()

Description copied from class: Primitive

get the parameters that define this primitive

Overrides:

getParameters in class Primitive

setParameters

public void setParameters(Q q)

Description copied from class: Primitive

set the parameters that define this primitive

Overrides:

setParameters in class Primitive

getType

public GeometryData.GeometryType getType()

Description copied from class: GeometryData

the type of this primitive

Overrides:

getType in class GeometryData