Go to the documentation of this file.
16 #ifndef SURGSIM_MATH_PLANESHAPE_H
17 #define SURGSIM_MATH_PLANESHAPE_H
27 SURGSIM_STATIC_REGISTRATION(PlaneShape);
77 #endif // SURGSIM_MATH_PLANESHAPE_H
Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: PlaneShape.cpp:38
PlaneShape()
Constructor: No members to initialize.
Definition: PlaneShape.cpp:24
The XZ plane (d = 0) with normal pointing along positive Y axis.
Definition: PlaneShape.h:36
double getVolume() const override
Get the volume of the shape.
Definition: PlaneShape.cpp:33
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:69
Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.
Definition: PlaneShape.cpp:43
bool isValid() const override
A PlaneShape is always valid.
Definition: PlaneShape.cpp:58
Definition: CompoundShapeToGraphics.cpp:29
SURGSIM_CLASSNAME(SurgSim::Math::PlaneShape)
Generic rigid shape class defining a shape.
Definition: Shape.h:65
double getD() const
Gets the d of the plane equation.
Definition: PlaneShape.cpp:48
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:68
int getType() const override
Definition: PlaneShape.cpp:28
Vector3d getNormal() const
Gets the normal of the plane equation.
Definition: PlaneShape.cpp:53