raisim::Cylinder

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

Inherits: raisim::SingleBodyObject

A rigid cylinder whose axis is the body z axis. The body frame origin is at the cylinder center (= COM). Create it with World::addCylinder().

Constructors & destructor

Cylinder

Cylinder(double radius, double height, double mass)

Parameters

Parameter	Description
radius (in)	radius (m), finite and positive
height (in)	full height along the body z axis (m), finite and positive
mass (in)	mass (kg)

Public member functions

getRadius

double getRadius() const

returns the radius of the cylinder

Returns the radius of the cylinder (m)

getHeight

double getHeight() const

returns the height of the cylinder

Returns the full height of the cylinder along the body z axis (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, setOrientation, 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