CapsuleShape represents a three-dimensional geometric shape consisting of a cylinder with hemispherical ends. More...

#include <CapsuleShape.hpp>

Inheritance diagram for dart::dynamics::CapsuleShape:

Collaboration diagram for dart::dynamics::CapsuleShape:

Public Member Functions
	CapsuleShape (double radius, double height)
	Constructor. More...

const std::string &	getType () const override
	Returns a string representing the shape type. More...

double	getRadius () const
	Get the radius of the capsule.

void	setRadius (double radius)
	Set the radius of the capsule.

double	getHeight () const
	Get the height of the cylindrical part.

void	setHeight (double height)
	Set the height of the cylindrical part.

Eigen::Matrix3d	computeInertia (double mass) const override
	Computes the inertia.

Public Member Functions inherited from dart::dynamics::Shape
	Shape (ShapeType _type)
	Constructor. More...

	Shape ()
	Constructor.

virtual	~Shape ()
	Destructor.

template<typename ShapeT >
bool	is () const
	Get true if the types of this Shape and the template parameter (a shape class) are identical. More...

const math::BoundingBox &	getBoundingBox () const
	Get the bounding box of the shape in its local coordinate frame. More...

Eigen::Matrix3d	computeInertiaFromDensity (double density) const

Eigen::Matrix3d	computeInertiaFromMass (double mass) const

double	getVolume () const
	Returns volume of this shape. More...

std::size_t	getID () const

ShapeType	getShapeType () const

void	setDataVariance (unsigned int _variance)
	Set the data variance of this shape. More...

void	addDataVariance (unsigned int _variance)
	Add a type of variance to this shape. More...

void	removeDataVariance (unsigned int _variance)
	Remove a type of variance from this shape. More...

unsigned int	getDataVariance () const
	Get the data variance of this shape.

bool	checkDataVariance (DataVariance type) const
	True iff this Shape has the specified type of DataVariance.

virtual void	refreshData ()
	Instruct this shape to update its data.

virtual void	notifyAlphaUpdate (double alpha)
	Notify that the alpha of this shape has updated.

virtual void	notifyAlphaUpdated (double alpha)
	Notify that the alpha of this shape has updated.

virtual void	notifyColorUpdate (const Eigen::Vector4d &color)
	Notify that the color (rgba) of this shape has updated.

virtual void	notifyColorUpdated (const Eigen::Vector4d &color)
	Notify that the color (rgba) of this shape has updated.

std::size_t	incrementVersion () override final
	Increment the version of this Shape and notify its subscribers.

Public Member Functions inherited from dart::common::Subject
virtual	~Subject ()
	Destructor will notify all Observers that it is destructing.

Public Member Functions inherited from dart::common::VersionCounter
	VersionCounter ()
	Default constructor.

virtual std::size_t	getVersion () const
	Get the version number of this object.

Static Public Member Functions
static const std::string &	getStaticType ()
	Get shape type string for this shape.

static double	computeVolume (double radius, double height)
	Compute volume from given properties. More...

static Eigen::Matrix3d	computeInertia (double radius, double height, double mass)
	Compute moments of inertia of a capsule. More...

Protected Member Functions
void	updateBoundingBox () const override
	Updates bounding box.

void	updateVolume () const override
	Updates volume.

Protected Member Functions inherited from dart::common::Subject
void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers.

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers.

Protected Member Functions inherited from dart::common::VersionCounter
void	setVersionDependentObject (VersionCounter *dependent)

Additional Inherited Members
Public Types inherited from dart::dynamics::Shape
enum	ShapeType { SPHERE, BOX, ELLIPSOID, CYLINDER, CAPSULE, CONE, PYRAMID, RECTANGULAR_PYRAMID, PLANE, MULTISPHERE, MESH, SOFT_MESH, LINE_SEGMENT, HEIGHTMAP, UNSUPPORTED }

enum	DataVariance { STATIC = 0, DYNAMIC_TRANSFORM = 1 << 1, DYNAMIC_PRIMITIVE = 1 << 2, DYNAMIC_COLOR = 1 << 3, DYNAMIC_VERTICES = 1 << 4, DYNAMIC_ELEMENTS = 1 << 5, DYNAMIC = 0xFF }
	DataVariance can be used by renderers to determine whether it should expect data for this shape to change during each update. More...

using	VersionChangedSignal = common::Signal< void(Shape *shape, std::size_t version)>

Public Attributes inherited from dart::dynamics::Shape
common::SlotRegister< VersionChangedSignal >	onVersionChanged
	Use this to subscribe to version change signals.

Protected Attributes inherited from dart::dynamics::Shape
math::BoundingBox	mBoundingBox
	The bounding box (in the local coordinate frame) of the shape.

bool	mIsBoundingBoxDirty
	Whether bounding box needs update.

double	mVolume
	Volume enclosed by the geometry.

bool	mIsVolumeDirty
	Whether volume needs update.

const std::size_t	mID
	Unique id.

unsigned int	mVariance
	The DataVariance of this Shape.

ShapeType	mType

Protected Attributes inherited from dart::common::Subject
std::set< Observer * >	mObservers
	List of current Observers.

Protected Attributes inherited from dart::common::VersionCounter
std::size_t	mVersion

Static Protected Attributes inherited from dart::dynamics::Shape
static std::atomic_int	mCounter {PRIMITIVE_MAGIC_NUMBER}

Detailed Description

CapsuleShape represents a three-dimensional geometric shape consisting of a cylinder with hemispherical ends.

Constructor & Destructor Documentation

◆ CapsuleShape()

dart::dynamics::CapsuleShape::CapsuleShape	(	double	radius,
		double	height
	)

Constructor.

Parameters

[in]	radius	Radius of the capsule.
[in]	height	Height of the cylindrical part.

Member Function Documentation

◆ computeInertia()

Eigen::Matrix3d dart::dynamics::CapsuleShape::computeInertia	(	double	radius,
		double	height,
		double	mass
	)

static

Compute moments of inertia of a capsule.

Parameters

[in]	radius	Radius of the capsule.
[in]	height	Height of the cylindrical part.
[in]	mass	Mass of the capsule.

◆ computeVolume()

double dart::dynamics::CapsuleShape::computeVolume	(	double	radius,
		double	height
	)

static

Compute volume from given properties.

Parameters

[in]	radius	Radius of the capsule.
[in]	height	Height of the cylindrical part.

◆ getType()

const std::string & dart::dynamics::CapsuleShape::getType ( ) const

overridevirtual

Returns a string representing the shape type.

See also: is()

Implements dart::dynamics::Shape.

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

dart/dynamics/CapsuleShape.hpp
dart/dynamics/CapsuleShape.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CapsuleShape()

Member Function Documentation

◆ computeInertia()

◆ computeVolume()

◆ getType()