Gazebo Math

API Reference

7.4.0
gz/math/Cylinder.hh
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1/*
2 * Copyright (C) 2018 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GZ_MATH_CYLINDER_HH_
18#define GZ_MATH_CYLINDER_HH_
19
20#include <optional>
22#include "gz/math/Material.hh"
23#include "gz/math/Quaternion.hh"
24
25namespace gz
26{
27 namespace math
28 {
29 // Foward declarations
30 class CylinderPrivate;
31
32 // Inline bracket to help doxygen filtering.
33 inline namespace GZ_MATH_VERSION_NAMESPACE {
34 //
43 template<typename Precision>
45 {
49 public: Cylinder() = default;
50
56 public: Cylinder(const Precision _length, const Precision _radius,
57 const Quaternion<Precision> &_rotOffset =
59
66 public: Cylinder(const Precision _length, const Precision _radius,
67 const Material &_mat,
68 const Quaternion<Precision> &_rotOffset =
70
73 public: Precision Radius() const;
74
77 public: void SetRadius(const Precision _radius);
78
81 public: Precision Length() const;
82
85 public: void SetLength(const Precision _length);
86
93
98 public: void SetRotationalOffset(
99 const Quaternion<Precision> &_rotOffset);
100
103 public: const Material &Mat() const;
104
107 public: void SetMat(const Material &_mat);
108
117 public: bool MassMatrix(MassMatrix3d &_massMat) const;
118
125 public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
126
129 public: bool operator==(const Cylinder &_cylinder) const;
130
133 public: Precision Volume() const;
134
143 public: Precision DensityFromMass(const Precision _mass) const;
144
157 public: bool SetDensityFromMass(const Precision _mass);
158
160 private: Precision radius = 0.0;
161
163 private: Precision length = 0.0;
164
166 private: Material material;
167
169 private: Quaternion<Precision> rotOffset =
171 };
172
176
180
184 }
185 }
186}
187#include "gz/math/detail/Cylinder.hh"
188
189#endif