Package org.robwork.sdurw_geometry

Class Tube

java.lang.Object

org.robwork.sdurw_geometry.GeometryData

org.robwork.sdurw_geometry.Primitive

org.robwork.sdurw_geometry.Tube

public class Tube
extends Primitive

a tube primitive. radius is in xy-plane and height is in z-axis

Nested Class Summary

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

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
Tube(float radius, float thickness, float height)	Constructs tube primitive with the specified setup The tube is aligned with the height in the z-direction such that tube extends height/2 above and below the xy-plane.
Tube(float radius, float thickness, float height, int levels)	Constructs tube primitive with the specified setup The tube is aligned with the height in the z-direction such that tube extends height/2 above and below the xy-plane.
Tube(long cPtr, boolean cMemoryOwn)
Tube(Q initQ)	Constructs tube primitive based on vector with parameters
Tube(Q initQ, int levels)	Constructs tube primitive based on vector with parameters

Method Summary

Modifier and Type	Method	Description
TriMeshPtr	createMesh(int resolution)	make a trimesh from this primitive.
void	delete()
static long	getCPtr(Tube obj)
float	getHeight()	Get the height of the tube.
float	getInnerRadius()	Get the inner radius of the tube.
Q	getParameters()	get the parameters that define this primitive
float	getThickness()	Get the thickness of the tube.
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

Tube

public Tube(long cPtr,
            boolean cMemoryOwn)

Tube

public Tube(float radius,
            float thickness,
            float height,
            int levels)

Constructs tube primitive with the specified setup

The tube is aligned with the height in the z-direction such that tube extends height/2
above and below the xy-plane.

Parameters:

radius - [in] inner radius of the tube.

thickness - [in] thickness of the tube.

height - [in] height of the cylinder.

levels - [in] granularity of the mesh.

Tube

public Tube(float radius,
            float thickness,
            float height)

Constructs tube primitive with the specified setup

The tube is aligned with the height in the z-direction such that tube extends height/2
above and below the xy-plane.

Parameters:

radius - [in] inner radius of the tube.

thickness - [in] thickness of the tube.

height - [in] height of the cylinder.

Tube

public Tube(Q initQ,
            int levels)

Constructs tube primitive based on vector with parameters

Parameters:

initQ - [in] vector of (radius, height)

levels - [in] granularity of the mesh

Tube

public Tube(Q initQ)

Constructs tube primitive based on vector with parameters

Parameters:

initQ - [in] vector of (radius, height)

Method Detail

getCPtr

public static long getCPtr(Tube obj)

delete

public void delete()

Overrides:

delete in class Primitive

getInnerRadius

public float getInnerRadius()

Get the inner radius of the tube.

Returns:

the radius

getThickness

public float getThickness()

Get the thickness of the tube.

Returns:

the thickness.

getHeight

public float getHeight()

Get the height of the tube.

Returns:

the height

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