frcsim::Cylinder Class Reference

Represents a cylinder collision shape aligned with the Y axis. More...

#include <cylinder.hpp>

Inheritance diagram for frcsim::Cylinder:

Public Member Functions
	Cylinder (double radius, double halfHeight)
	Constructs a new Cylinder.
virtual	~Cylinder ()=default
ShapeType	GetType () const override
	Gets the exact type of this shape.
double	CalculateVolume () const override
	Calculates the volume of the specific shape.
Vector3	CalculateLocalInertia (double mass) const override
	Computes the diagonal of the local inertia tensor for this shape given a mass.
double	GetRadius () const
	Gets the radius of the cylinder.
double	GetHalfHeight () const
	Gets the half-height of the cylinder.
Public Member Functions inherited from frcsim::Shape
virtual	~Shape ()=default

Detailed Description

Represents a cylinder collision shape aligned with the Y axis.

Constructor & Destructor Documentation

Cylinder()

frcsim::Cylinder::Cylinder ( double radius, double halfHeight )

inline

Constructs a new Cylinder.

Parameters

radius	The radius of the cylinder base in meters.
halfHeight	Half the height of the cylinder along the Y axis in meters.

~Cylinder()

virtual frcsim::Cylinder::~Cylinder ( )

virtualdefault

Member Function Documentation

CalculateLocalInertia()

Vector3 frcsim::Cylinder::CalculateLocalInertia ( double mass ) const

inlineoverridevirtual

Computes the diagonal of the local inertia tensor for this shape given a mass.

Parameters

mass	The mass of the rigid body attached to this shape in kg.

Returns

A Vector3 representing the moments of inertia (Ixx, Iyy, Izz).

Implements frcsim::Shape.

CalculateVolume()

double frcsim::Cylinder::CalculateVolume ( ) const

inlineoverridevirtual

Calculates the volume of the specific shape.

Returns

The geometric volume in cubic meters.

Implements frcsim::Shape.

GetHalfHeight()

double frcsim::Cylinder::GetHalfHeight ( ) const

inline

Gets the half-height of the cylinder.

Returns

Half the total height (Y-axis extents) in meters.

GetRadius()

double frcsim::Cylinder::GetRadius ( ) const

inline

Gets the radius of the cylinder.

Returns

The radius in meters.

GetType()

ShapeType frcsim::Cylinder::GetType ( ) const

inlineoverridevirtual

Gets the exact type of this shape.

Returns

The ShapeType enum value corresponding to the derived class.

Implements frcsim::Shape.

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

• src/main/driver/include/frcsim/collision_shapes/cylinder.hpp