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src
gz-math
include
gz
math
Capsule.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2020 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_MATH_CAPSULE_HH_
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#define GZ_MATH_CAPSULE_HH_
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#include <optional>
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#include "
gz/math/MassMatrix3.hh
"
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#include "
gz/math/Material.hh
"
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namespace
gz::math
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{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_MATH_VERSION_NAMESPACE {
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//
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template
<
typename
Precision>
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class
Capsule
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{
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public
:
Capsule
() =
default
;
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public
:
Capsule
(
const
Precision
_length
,
const
Precision
_radius
);
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public
:
Capsule
(
const
Precision
_length
,
const
Precision
_radius
,
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const
Material
&
_mat
);
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public
:
Precision
Radius
()
const
;
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public
:
void
SetRadius
(
const
Precision
_radius
);
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public
:
Precision
Length
()
const
;
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public
:
void
SetLength
(
const
Precision
_length
);
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public
:
const
Material
&
Mat
()
const
;
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public
:
void
SetMat
(
const
Material
&
_mat
);
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public
: std::optional< MassMatrix3<Precision> >
MassMatrix
()
const
;
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public
:
bool
operator==
(
const
Capsule
&
_capsule
)
const
;
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public
:
Precision
Volume
()
const
;
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public
:
Precision
DensityFromMass
(
const
Precision
_mass
)
const
;
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public
:
bool
SetDensityFromMass
(
const
Precision
_mass
);
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private
:
Precision
radius = 0.0;
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private
:
Precision
length = 0.0;
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private
:
Material
material;
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};
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typedef
Capsule<int>
Capsulei
;
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typedef
Capsule<double>
Capsuled
;
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typedef
Capsule<float>
Capsulef
;
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}
// namespace GZ_MATH_VERSION_NAMESPACE
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}
// namespace gz::math
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#include "gz/math/detail/Capsule.hh"
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#endif
// GZ_MATH_CAPSULE_HH_