sdf::SDF_VERSION_NAMESPACE::Ellipsoid Class Reference

Ellipsoid represents a ellipsoid shape, and is usually accessed through a Geometry. More...

#include <Ellipsoid.hh>

Public Member Functions
	Ellipsoid ()
	Constructor.
std::optional< gz::math::Inertiald >	CalculateInertial (double _density)
	Calculate and return the Inertial values for the Ellipsoid.
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.
Errors	Load (ElementPtr _sdf)
	Load the ellipsoid geometry based on a element pointer.
gz::math::Vector3d	Radii () const
	Get the ellipsoid's radii in meters.
void	SetRadii (const gz::math::Vector3d &_radii)
	Set the ellipsoid's x, y, and z radii in meters.
gz::math::Ellipsoidd &	Shape ()
	Get a mutable Gazebo Math representation of this Ellipsoid.
const gz::math::Ellipsoidd &	Shape () const
	Get the Gazebo Math representation of this Ellipsoid.
sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this ellipsoid.
sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this ellipsoid.

Detailed Description

Ellipsoid represents a ellipsoid shape, and is usually accessed through a Geometry.

Constructor & Destructor Documentation

Ellipsoid()

sdf::SDF_VERSION_NAMESPACE::Ellipsoid::Ellipsoid

(

)

Constructor.

Member Function Documentation

CalculateInertial()

std::optional< gz::math::Inertiald > sdf::SDF_VERSION_NAMESPACE::Ellipsoid::CalculateInertial

(

double

_density

)

Calculate and return the Inertial values for the Ellipsoid.

In order to calculate the inertial properties, the function mutates the object by updating its material properties.

Parameters

[in]

_density

Density of the ellipsoid in kg/m^3

Returns

A std::optional with gz::math::Inertiald object or std::nullopt

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Ellipsoid::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

Load()

Errors sdf::SDF_VERSION_NAMESPACE::Ellipsoid::Load

(

ElementPtr

_sdf

)

Load the ellipsoid geometry based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

Radii()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::Ellipsoid::Radii

(

)

const

Get the ellipsoid's radii in meters.

Returns

The radius of the ellipsoid in meters.

SetRadii()

void sdf::SDF_VERSION_NAMESPACE::Ellipsoid::SetRadii

(

const gz::math::Vector3d &

_radii

)

Set the ellipsoid's x, y, and z radii in meters.

Parameters

[in]

_radius

Vector of radii (x, y, z) of the ellipsoid in meters.

Shape() [1/2]

gz::math::Ellipsoidd & sdf::SDF_VERSION_NAMESPACE::Ellipsoid::Shape

(

)

Get a mutable Gazebo Math representation of this Ellipsoid.

Returns

A reference to a gz::math::Ellipsoidd object.

Shape() [2/2]

const gz::math::Ellipsoidd & sdf::SDF_VERSION_NAMESPACE::Ellipsoid::Shape

(

)

const

Get the Gazebo Math representation of this Ellipsoid.

Returns

A const reference to a gz::math::Ellipsoidd object.

ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Ellipsoid::ToElement

(

)

const

Create and return an SDF element filled with data from this ellipsoid.

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated ellipsoid values.

ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Ellipsoid::ToElement

(

sdf::Errors &

_errors

)

const

Create and return an SDF element filled with data from this ellipsoid.

Note that parameter passing functionality is not captured with this function.

Parameters

[out]

_errors

Vector of errors.

Returns

SDF element pointer with updated ellipsoid values.

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

• Ellipsoid.hh