mrs_lib::geometry::Cone Class Reference

geometric representaiton of a cone More...

#include <shapes.h>

Public Member Functions
	Cone ()
	constructor without setting the internal variables
	~Cone ()
	destructor
	Cone (Eigen::Vector3d origin_point, double angle, double height, Eigen::Vector3d orientation)
	constructor from a given origin point (tip of the cone), angle, height and orientation
const Eigen::Vector3d	origin () const
	getter for the tip point
const Eigen::Vector3d	direction () const
	getter for the direction. Normalized direction from origin towards base
const Eigen::Vector3d	center () const
	getter for the center point. Center point lies in half of the body height
double	theta () const
	getter for angle between body height and body side
double	h () const
	getter for body height
const Ellipse	getCap () const
	getter for the cap of the cone
const std::optional< Eigen::Vector3d >	projectPoint (const Eigen::Vector3d &point) const
	Project a 3D point orthogonally onto the Cone surface.

Detailed Description

geometric representaiton of a cone

Constructor & Destructor Documentation

Cone()

mrs_lib::geometry::Cone::Cone	(	Eigen::Vector3d	origin_point,
		double	angle,
		double	height,
		Eigen::Vector3d	orientation
	)

constructor from a given origin point (tip of the cone), angle, height and orientation

Parameters

origin_point	tip of the cone
angle	angle between body height and side in radians
height	distance between tip and base
orientation	offset from the default orientation. Default orientation is with body height aligned with Z axis, standing on the tip

Member Function Documentation

center()

const Eigen::Vector3d mrs_lib::geometry::Cone::center

(

)

const

getter for the center point. Center point lies in half of the body height

Returns

vector3

direction()

const Eigen::Vector3d mrs_lib::geometry::Cone::direction

(

)

const

getter for the direction. Normalized direction from origin towards base

Returns

vector3, normalized

getCap()

const Ellipse mrs_lib::geometry::Cone::getCap

(

)

const

getter for the cap of the cone

Returns

ellipse representing the cap of the cone

h()

double mrs_lib::geometry::Cone::h

(

)

const

getter for body height

Returns

origin()

const Eigen::Vector3d mrs_lib::geometry::Cone::origin

(

)

const

getter for the tip point

Returns

vector3

projectPoint()

const std::optional< Eigen::Vector3d > mrs_lib::geometry::Cone::projectPoint

(

const Eigen::Vector3d &

point

)

const

Project a 3D point orthogonally onto the Cone surface.

Parameters

point

in 3D

Returns

projected point

theta()

double mrs_lib::geometry::Cone::theta

(

)

const

getter for angle between body height and body side

Returns

angle in radians

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

• include/mrs_lib/geometry/shapes.h
• src/geometry/shapes.cpp