16 #ifndef SURGSIM_MATH_CYLINDERSHAPE_H 17 #define SURGSIM_MATH_CYLINDERSHAPE_H 54 virtual double getVolume()
const override;
66 virtual bool isValid()
const override;
90 #endif // SURGSIM_MATH_CYLINDERSHAPE_H Definition: DriveElementFromInputBehavior.cpp:27
virtual bool isValid() const override
Definition: CylinderShape.cpp:82
SURGSIM_STATIC_REGISTRATION(BoxShape)
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:62
CylinderShape(double length=0.0, double radius=0.0)
Constructor.
Definition: CylinderShape.cpp:24
virtual Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix...
Definition: CylinderShape.cpp:66
Cylinder shape: centered on (0 0 0), aligned along Y, defined with length and radius.
Definition: CylinderShape.h:31
virtual Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: CylinderShape.cpp:61
virtual double getVolume() const override
Get the volume of the shape.
Definition: CylinderShape.cpp:56
SURGSIM_CLASSNAME(SurgSim::Math::CylinderShape)
void setLength(double length)
Set the cylinder length.
Definition: CylinderShape.cpp:46
double getLength() const
Get the cylinder length.
Definition: CylinderShape.cpp:35
double m_radius
The cylinder radius.
Definition: CylinderShape.h:84
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:63
void setRadius(double radius)
Set the cylinder radius.
Definition: CylinderShape.cpp:51
virtual int getType() override
Definition: CylinderShape.cpp:30
double getRadius() const
Get the cylinder radius.
Definition: CylinderShape.cpp:40
double m_length
The cylinder length.
Definition: CylinderShape.h:81
Generic rigid shape class defining a shape.
Definition: Shape.h:59