Cylinder Class Reference

a cylinder primitive. By default the radius is in the x-y plane and height is along the z-axis More...

#include <Cylinder.hpp>

Inherits Primitive.

Public Member Functions
	Cylinder (int levels=16)
	constructor
	Cylinder (float radius, float height, int levels=16)
	Constructs cylinder primitive with the specified setup. More...
	Cylinder (const rw::math::Q &initQ, int levels=16)
	Constructor. More...
	Cylinder (const rw::math::Transform3D<> &transform, float radius, float height, int levels=16)
	Construct cylinder primitive with specified radius and height and with the given transform. More...
virtual	~Cylinder ()
	destructor
double	getRadius () const
	Get the radius of the cylinder. More...
double	getHeight () const
	Get the height of the cylinder. More...
const rw::math::Transform3D< float > &	getTransform () const
	Returns the transform of the cylinder. More...
TriMesh::Ptr	createMesh (int resolution) const
	make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into More...
virtual rw::math::Q	getParameters () const
	get the parameters that define this primitive More...
virtual void	setParameters (const rw::math::Q &q)
	set the parameters that define this primitive More...
GeometryType	getType () const
	the type of this primitive More...
Public Member Functions inherited from Primitive
virtual	~Primitive ()
	destructor
TriMesh::Ptr	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...
virtual bool	isConvex ()
	test if this geometry data is convex More...
bool	isInside (const rw::math::Vector3D< double > &point)
	test if a point is on the border or inside this primitive
Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Additional Inherited Members
Public Types inherited from Primitive
typedef rw::core::Ptr< Primitive >	Ptr
	Smart pointer to this type of class.
Public Types inherited from GeometryData
enum	GeometryType {   PointCloud , LineMesh , PlainTriMesh , IdxTriMesh ,   SpherePrim , BoxPrim , OBBPrim , AABBPrim ,   LinePrim , PointPrim , PyramidPrim , ConePrim ,   TrianglePrim , CylinderPrim , TubePrim , PlanePrim ,   RayPrim , Implicit , Quadratic , UserType }
	geometry data types
typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class
Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...
Protected Member Functions inherited from Primitive
virtual bool	doIsInside (const rw::math::Vector3D< double > &point)
	Check if point lies inside geometry. More...
	Primitive (int levels=20)
	Constructor. More...

Detailed Description

a cylinder primitive. By default the radius is in the x-y plane and height is along the z-axis

Constructor & Destructor Documentation

Cylinder() [1/3]

Cylinder	(	float	radius,
		float	height,
		int	levels = 16
	)

Constructs cylinder primitive with the specified setup.

The cylinder is aligned with the height in the z-direction.

Parameters

radius	[in] radius of the cylinder.
height	[in] height of the cylinder.
levels	[in] granularity of the mesh

Cylinder() [2/3]

Cylinder	(	const rw::math::Q &	initQ,
		int	levels = 16
	)

Constructor.

Parameters

initQ	[in] vector with (height, radius)
levels	[in] granularity of the mesh

Cylinder() [3/3]

Cylinder	(	const rw::math::Transform3D<> &	transform,
		float	radius,
		float	height,
		int	levels = 16
	)

Construct cylinder primitive with specified radius and height and with the given transform.

The cylinder will be centered in the position of transform and oriented in the direction of the third column of the rotation matrix of transform.

Parameters

transform	[in] The transform specifying how the pose of the cylinder
radius	[in] radius of the cylinder.
height	[in] height of the cylinder.
levels	[in] granularity of the mesh

Member Function Documentation

createMesh()

TriMesh::Ptr createMesh ( int  resolution ) const

virtual

make a trimesh from this primitive. Use granularity to specify minimum number of line segments a half circle is split into

Parameters

resolution

[in]

Implements Primitive.

getHeight()

double getHeight ( ) const

inline

Get the height of the cylinder.

Returns

the height.

getParameters()

virtual rw::math::Q getParameters ( ) const

virtual

get the parameters that define this primitive

Implements Primitive.

getRadius()

double getRadius ( ) const

inline

Get the radius of the cylinder.

Returns

the radius.

getTransform()

const rw::math::Transform3D<float>& getTransform ( ) const

inline

Returns the transform of the cylinder.

Default is the identity matrix unless a transform has been specified.

Returns

Transform of the cylinder

getType()

GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

setParameters()

virtual void setParameters ( const rw::math::Q &  q )

virtual

set the parameters that define this primitive

Implements Primitive.

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

• Cylinder.hpp