A representation of a cone. More...

#include <gz/math/Cone.hh>

Public Member Functions
	Cone ()=default
	Default constructor. The default radius and length are both zero. The default rotational offset is Quaternion<Precision>::Identity. More...

	Cone (const Precision _length, const Precision _radius, const Material &_mat, const Quaternion< Precision > &_rotOffset=Quaternion< Precision >::Identity)
	Construct a cone with a length, radius, material and optionally a rotational offset. More...

	Cone (const Precision _length, const Precision _radius, const Quaternion< Precision > &_rotOffset=Quaternion< Precision >::Identity)
	Construct a cone with a length, radius, and optionally a rotational offset. More...

Precision	DensityFromMass (const Precision _mass) const
	Compute the cone's density given a mass value. The cone is assumed to be solid with uniform density. This function requires the cone's radius and length to be set to values greater than zero. The Material of the cone is ignored. More...

Precision	Length () const
	Get the length in meters. More...

std::optional< MassMatrix3< Precision > >	MassMatrix () const
	Get the mass matrix for this cone. This function is only meaningful if the cone's radius, length, and material have been set. Optionally, set the rotational offset. More...

bool	MassMatrix (MassMatrix3d &_massMat) const
	Get the mass matrix for this cone. This function is only meaningful if the cone's radius, length, and material have been set. Optionally, set the rotational offset. More...

const Material &	Mat () const
	Get the material associated with this cone. More...

bool	operator== (const Cone &_cone) const
	Check if this cone is equal to the provided cone. Radius, length, and material properties will be checked. More...

Precision	Radius () const
	Get the radius in meters. More...

Quaternion< Precision >	RotationalOffset () const
	Get the rotational offset. By default, a cone's length is aligned with the Z axis. The rotational offset encodes a rotation from the z axis. More...

bool	SetDensityFromMass (const Precision _mass)
	Set the density of this cone based on a mass value. Density is computed using Precision DensityFromMass(const Precision _mass) const. The cone is assumed to be solid with uniform density. This function requires the cone's radius and length to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true. More...

void	SetLength (const Precision _length)
	Set the length in meters. More...

void	SetMat (const Material &_mat)
	Set the material associated with this cone. More...

void	SetRadius (const Precision _radius)
	Set the radius in meters. More...

void	SetRotationalOffset (const Quaternion< Precision > &_rotOffset)
	Set the rotation offset. More...

Precision	Volume () const
	Get the volume of the cone in m^3. More...

Detailed Description

template<typename Precision>
class gz::math::Cone< Precision >

A representation of a cone.

The cone class supports defining a cone with a radius, length, rotational offset, and material properties. Radius and length are in meters. See Material for more on material properties. By default, a cone's length is aligned with the Z axis where the base of the cone is proximal to the origin and vertex points in positive Z. The rotational offset encodes a rotation from the z axis.

Constructor & Destructor Documentation

◆ Cone() [1/3]

Cone ( )

default

Default constructor. The default radius and length are both zero. The default rotational offset is Quaternion<Precision>::Identity.

◆ Cone() [2/3]

Cone	(	const Precision	_length,
		const Precision	_radius,
		const Quaternion< Precision > &	_rotOffset = `Quaternion< Precision >::Identity`
	)

Construct a cone with a length, radius, and optionally a rotational offset.

Parameters

[in]	_length	Length of the cone.
[in]	_radius	Radius of the cone.
[in]	_rotOffset	Rotational offset of the cone.

◆ Cone() [3/3]

Cone	(	const Precision	_length,
		const Precision	_radius,
		const Material &	_mat,
		const Quaternion< Precision > &	_rotOffset = `Quaternion< Precision >::Identity`
	)

Construct a cone with a length, radius, material and optionally a rotational offset.

Parameters

[in]	_length	Length of the cone.
[in]	_radius	Radius of the cone.
[in]	_mat	Material property for the cone.
[in]	_rotOffset	Rotational offset of the cone.

Member Function Documentation

◆ DensityFromMass()

Precision DensityFromMass ( const Precision _mass ) const

Compute the cone's density given a mass value. The cone is assumed to be solid with uniform density. This function requires the cone's radius and length to be set to values greater than zero. The Material of the cone is ignored.

Parameters

[in] _mass Mass of the cone, in kg. This value should be greater than zero.

Returns: Density of the cone in kg/m^3. A negative value is returned if radius, length or _mass is <= 0.

◆ Length()

Precision Length ( ) const

Get the length in meters.

Returns: The length of the cone in meters.

◆ MassMatrix() [1/2]

std::optional< MassMatrix3<Precision> > MassMatrix ( ) const

Get the mass matrix for this cone. This function is only meaningful if the cone's radius, length, and material have been set. Optionally, set the rotational offset.

Returns: The computed mass matrix if parameters are valid (radius > 0), (length > 0) and (density > 0). Otherwise std::nullopt is returned.

◆ MassMatrix() [2/2]

bool MassMatrix ( MassMatrix3d & _massMat ) const

Get the mass matrix for this cone. This function is only meaningful if the cone's radius, length, and material have been set. Optionally, set the rotational offset.

Parameters

[out] _massMat The computed mass matrix will be stored here.

Returns: False if computation of the mass matrix failed, which could be due to an invalid radius (<=0), length (<=0), or density (<=0).

◆ Mat()

const Material& Mat ( ) const

Get the material associated with this cone.

Returns: The material assigned to this cone

◆ operator==()

bool operator== ( const Cone< Precision > & _cone ) const

Check if this cone is equal to the provided cone. Radius, length, and material properties will be checked.

◆ Radius()

Precision Radius ( ) const

Get the radius in meters.

Returns: The radius of the cone in meters.

◆ RotationalOffset()

Quaternion<Precision> RotationalOffset ( ) const

Get the rotational offset. By default, a cone's length is aligned with the Z axis. The rotational offset encodes a rotation from the z axis.

Returns: The cone's rotational offset.

See also: void SetRotationalOffset(const Quaternion<Precision> &_rot)

◆ SetDensityFromMass()

bool SetDensityFromMass ( const Precision _mass )

Set the density of this cone based on a mass value. Density is computed using Precision DensityFromMass(const Precision _mass) const. The cone is assumed to be solid with uniform density. This function requires the cone's radius and length to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true.

Parameters

[in] _mass Mass of the cone, in kg. This value should be greater than zero.

Returns: True if the density was set. False is returned if the cone's radius, length, or the _mass value are <= 0.

See also: Precision DensityFromMass(const Precision _mass) const

◆ SetLength()

void SetLength ( const Precision _length )

Set the length in meters.

Parameters

[in] _length The length of the cone in meters.

◆ SetMat()

void SetMat ( const Material & _mat )

Set the material associated with this cone.

Parameters

[in] _mat The material assigned to this cone

◆ SetRadius()

void SetRadius ( const Precision _radius )

Set the radius in meters.

Parameters

[in] _radius The radius of the cone in meters.

◆ SetRotationalOffset()

void SetRotationalOffset ( const Quaternion< Precision > & _rotOffset )

Set the rotation offset.

Parameters

[in] _rotOffset rotational offset quaternion. See Quaternion<Precision> RotationalOffset() for details on the rotational offset.

See also: Quaternion<Precision> RotationalOffset() const

◆ Volume()

Precision Volume ( ) const

Get the volume of the cone in m^3.

Returns: Volume of the cone in m^3.

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

Cone.hh

Gazebo Math

API Reference

Public Member Functions

Detailed Description

template<typename Precision>
class gz::math::Cone< Precision >

Constructor & Destructor Documentation

◆ Cone() [1/3]

◆ Cone() [2/3]

◆ Cone() [3/3]

Member Function Documentation

◆ DensityFromMass()

◆ Length()

◆ MassMatrix() [1/2]

◆ MassMatrix() [2/2]

◆ Mat()

◆ operator==()

◆ Radius()

◆ RotationalOffset()

◆ SetDensityFromMass()

◆ SetLength()

◆ SetMat()

◆ SetRadius()

◆ SetRotationalOffset()

◆ Volume()

Public Member Functions

Detailed Description

template<typename Precision> class gz::math::Cone< Precision >

Constructor & Destructor Documentation

◆ Cone() [1/3]

◆ Cone() [2/3]

◆ Cone() [3/3]

Member Function Documentation

◆ DensityFromMass()

◆ Length()

◆ MassMatrix() [1/2]

◆ MassMatrix() [2/2]

◆ Mat()

◆ operator==()

◆ Radius()

◆ RotationalOffset()

◆ SetDensityFromMass()

◆ SetLength()

◆ SetMat()

◆ SetRadius()

◆ SetRotationalOffset()

◆ Volume()

template<typename Precision>
class gz::math::Cone< Precision >