raisim::Cone

class · #include <raisim/object/singleBodies/Cone.hpp>

Inherits: raisim::SingleBodyObject

A cone. Not supported by the current collision engine: the constructor raises a fatal error.

Constructors & destructor

Cone

Cone(double radius, double height, double mass)

Always raises a fatal error ("CONE IS NOT SUPPORTED").

Parameters

Parameter	Description
radius (in)	base radius (m)
height (in)	height (m)
mass (in)	mass (kg)

Public member functions

setOrientation

void setOrientation(const Eigen::Quaterniond &quaternion) override

Set the orientation; the body rotates about its body frame origin (base center).

Parameters

Parameter	Description
quaternion (in)	orientation

void setOrientation(double w, double x, double y, double z) override

Set the orientation from a quaternion (w, x, y, z).

Parameters

Parameter	Description
w (in)	quaternion w
x (in)	quaternion x
y (in)	quaternion y
z (in)	quaternion z

getRadius

double getRadius() const

Returns the base radius (m).

getHeight

double getHeight() const

Returns the height (m).

updateContactAabbs

void updateContactAabbs() override

Internal: recomputes the world-frame AABBs used by the broadphase.

Inherited members

From raisim::SingleBodyObject: clearExternalForcesAndTorques, getAngularVelocity, getAppearance, getBodyToComPosition_rs, getCollisionBody, getCollisionGroup, getCollisionMask, getCom, getComPosition, getComPosition_rs, getContactPointVel, getDOF, getEnergy, getGeneralizedCoordinateDim, getGyroscopicMode, getInertiaMatrix_B, getInertiaMatrix_B_rs, getInertiaMatrix_W, getInertiaMatrix_W_rs, getKineticEnergy, getLinearMomentum, getLinearVelocity, getMass, getObjectType, getOrientation, getPosition, getPotentialEnergy, getQuaternion, getRotationMatrix, getVelocity, integrate, preContactSolverUpdate1, preContactSolverUpdate2, setAngularDamping, setAngularVelocity, setAppearance, setBodyType, setCom, setConstraintForce, setExternalForce, setExternalTorque, setGyroscopicMode, setInertia, setLinearDamping, setLinearVelocity, setMass, setPose, setPosition, setVelocity, updateCollision

From raisim::Object: addContactToPerObjectContact, clearPerObjectContact, getBodyType, getContactAabb, getContactAabbCount, getContacts, getExternalForce, getExternalForcePosition, getExternalTorque, getExternalTorquePosition, getId, getIndexInWorld, getName, getRenderRevision, Id, lock, lockMutex, setIndexInWorld, setName, try_lock, unlock, unlockMutex