Package org.robwork.sdurw_geometry

Class Cone

java.lang.Object

org.robwork.sdurw_geometry.GeometryData

org.robwork.sdurw_geometry.Primitive

org.robwork.sdurw_geometry.Cone

public class Cone
extends Primitive

cone primitive. Like a cylinder though where a radius can be
specified for both ends.

The cone is aligned with the z-axis such that top is in the positive z-axis
and the bottom is in the negative z-axis. The center of the cone will be
in (0,0,0) which is inside the cone.

Nested Class Summary

Nested classes/interfaces inherited from class org.robwork.sdurw_geometry.GeometryData

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
Cone(double height, double radiusTop, double radiusBot)	constructor
Cone(double height, double radiusTop, double radiusBot, int levels)	constructor
Cone(long cPtr, boolean cMemoryOwn)
Cone(Q initQ)	constructor
Cone(Q initQ, int levels)	constructor

Method Summary

Modifier and Type	Method	Description
TriMeshPtr	createMesh(int resolution)	make a trimesh from this primitive.
void	delete()
double	getBottomRadius()	the bottom radius
static long	getCPtr(Cone obj)
double	getHeight()	the height
Q	getParameters()	get the parameters that define this primitive
double	getTopRadius()	the top radius
GeometryData.GeometryType	getType()	the type of this primitive
void	setParameters(Q q)	set the parameters that define this primitive

Methods inherited from class org.robwork.sdurw_geometry.Primitive

getCPtr, getTriMesh, getTriMesh, isConvex, isInside

Methods inherited from class org.robwork.sdurw_geometry.GeometryData

getCPtr, toString

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Cone

public Cone(long cPtr,
            boolean cMemoryOwn)

Cone

public Cone(Q initQ,
            int levels)

constructor

Cone

public Cone(Q initQ)

constructor

Cone

public Cone(double height,
            double radiusTop,
            double radiusBot,
            int levels)

constructor

Parameters:

height - [in] height of cone

radiusTop - [in] radius of the top end

radiusBot - [in] radius of the bottom end

levels - [in] granularity of the mesh

Cone

public Cone(double height,
            double radiusTop,
            double radiusBot)

constructor

Parameters:

height - [in] height of cone

radiusTop - [in] radius of the top end

radiusBot - [in] radius of the bottom end

Method Detail

getCPtr

public static long getCPtr(Cone obj)

delete

public void delete()

Overrides:

delete in class Primitive

getHeight

public double getHeight()

the height

getTopRadius

public double getTopRadius()

the top radius

getBottomRadius

public double getBottomRadius()

the bottom radius

createMesh

public TriMeshPtr createMesh(int resolution)

Description copied from class: Primitive

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

Overrides:

createMesh in class Primitive

Parameters:

resolution - [in]

getParameters

public Q getParameters()

Description copied from class: Primitive

get the parameters that define this primitive

Overrides:

getParameters in class Primitive

setParameters

public void setParameters(Q q)

Description copied from class: Primitive

set the parameters that define this primitive

Overrides:

setParameters in class Primitive

getType

public GeometryData.GeometryType getType()

Description copied from class: GeometryData

the type of this primitive

Overrides:

getType in class GeometryData