16 #ifndef SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H 17 #define SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H 44 virtual double getVolume()
const override;
65 virtual bool isValid()
const override;
71 #endif // SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H virtual Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix...
Definition: DoubleSidedPlaneShape.cpp:43
Definition: DriveElementFromInputBehavior.cpp:27
SURGSIM_STATIC_REGISTRATION(BoxShape)
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:62
virtual int getType() override
Definition: DoubleSidedPlaneShape.cpp:28
double getD() const
Gets the d of the plane equation.
Definition: DoubleSidedPlaneShape.cpp:48
virtual double getVolume() const override
Get the volume of the shape.
Definition: DoubleSidedPlaneShape.cpp:33
SURGSIM_CLASSNAME(SurgSim::Math::DoubleSidedPlaneShape)
DoubleSidedPlaneShape()
Constructor.
Definition: DoubleSidedPlaneShape.cpp:24
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:63
Vector3d getNormal() const
Gets the normal of the plane equation.
Definition: DoubleSidedPlaneShape.cpp:53
DoubleSidedPlaneShape: The XZ plane (d = 0) with normal pointing along positive Y axis...
Definition: DoubleSidedPlaneShape.h:31
virtual bool isValid() const override
A DoubleSidedPlaneShape is always valid.
Definition: DoubleSidedPlaneShape.cpp:58
Generic rigid shape class defining a shape.
Definition: Shape.h:59
virtual Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: DoubleSidedPlaneShape.cpp:38