Gazebo Math

API Reference

8.1.0
Capsule.hh
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1/*
2 * Copyright (C) 2020 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
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16*/
17#ifndef GZ_MATH_CAPSULE_HH_
18#define GZ_MATH_CAPSULE_HH_
19
20#include <optional>
22#include "gz/math/Material.hh"
23
24namespace gz::math
25{
26 // Inline bracket to help doxygen filtering.
27 inline namespace GZ_MATH_VERSION_NAMESPACE {
28 //
37 template<typename Precision>
38 class Capsule
39 {
42 public: Capsule() = default;
43
47 public: Capsule(const Precision _length, const Precision _radius);
48
54 const Material &_mat);
55
58 public: Precision Radius() const;
59
62 public: void SetRadius(const Precision _radius);
63
66 public: Precision Length() const;
67
70 public: void SetLength(const Precision _length);
71
74 public: const Material &Mat() const;
75
78 public: void SetMat(const Material &_mat);
79
86 public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
87
90 public: bool operator==(const Capsule &_capsule) const;
91
94 public: Precision Volume() const;
95
105
118 public: bool SetDensityFromMass(const Precision _mass);
119
121 private: Precision radius = 0.0;
122
124 private: Precision length = 0.0;
125
127 private: Material material;
128 };
129
133
137
141 } // namespace GZ_MATH_VERSION_NAMESPACE
142} // namespace gz::math
143#include "gz/math/detail/Capsule.hh"
144#endif // GZ_MATH_CAPSULE_HH_