Capsule Class Reference

#include <drake/systems/plants/shapes/Geometry.h>

Inheritance diagram for Capsule:

Collaboration diagram for Capsule:

Public Member Functions
	Capsule (double radius, double length)
virtual	~Capsule ()
virtual Capsule *	clone () const
virtual void	getPoints (Eigen::Matrix3Xd &points) const
virtual void	getBoundingBoxPoints (Eigen::Matrix3Xd &points) const
Public Member Functions inherited from Geometry
	Geometry ()
	Geometry (const Geometry &other)
virtual	~Geometry ()
Shape	getShape () const
virtual void	getTerrainContactPoints (Eigen::Matrix3Xd &points) const

Public Attributes
double	radius
double	length

Static Public Attributes
static const int	NUM_POINTS = 2

Friends
DRAKESHAPES_EXPORT std::ostream &	operator<< (std::ostream &, const Capsule &)
	A toString method for this class. More...

Additional Inherited Members
Protected Member Functions inherited from Geometry
	Geometry (Shape shape)
void	getBoundingBoxPoints (double x_half_width, double y_half_width, double z_half_width, Eigen::Matrix3Xd &points) const
Protected Attributes inherited from Geometry
Shape	shape
Static Protected Attributes inherited from Geometry
static const int	NUM_BBOX_POINTS = 8

Constructor & Destructor Documentation

Capsule	(	double	radius,
		double	length
	)

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virtual ~Capsule ( )

inlinevirtual

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Member Function Documentation

Capsule * clone ( ) const

virtual

Reimplemented from Geometry.

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void getBoundingBoxPoints ( Eigen::Matrix3Xd &  points ) const

virtual

Reimplemented from Geometry.

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void getPoints ( Eigen::Matrix3Xd &  points ) const

virtual

Reimplemented from Geometry.

Friends And Related Function Documentation

DRAKESHAPES_EXPORT std::ostream& operator<< ( std::ostream &  out, const Capsule &  cc  )

friend

A toString method for this class.

Member Data Documentation

double length

const int NUM_POINTS = 2

static

double radius

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

• drake/systems/plants/shapes/Geometry.h
• drake/systems/plants/shapes/Geometry.cpp