16 #ifndef SURGSIM_MATH_PLANESHAPE_H 17 #define SURGSIM_MATH_PLANESHAPE_H 50 virtual double getVolume()
const override;
71 virtual bool isValid()
const override;
77 #endif // SURGSIM_MATH_PLANESHAPE_H Definition: DriveElementFromInputBehavior.cpp:27
virtual double getVolume() const override
Get the volume of the shape.
Definition: PlaneShape.cpp:33
SURGSIM_STATIC_REGISTRATION(BoxShape)
virtual Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix...
Definition: PlaneShape.cpp:43
virtual Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: PlaneShape.cpp:38
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:62
virtual int getType() override
Definition: PlaneShape.cpp:28
SURGSIM_CLASSNAME(SurgSim::Math::PlaneShape)
double getD() const
Gets the d of the plane equation.
Definition: PlaneShape.cpp:48
virtual bool isValid() const override
A PlaneShape is always valid.
Definition: PlaneShape.cpp:58
Vector3d getNormal() const
Gets the normal of the plane equation.
Definition: PlaneShape.cpp:53
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:63
The XZ plane (d = 0) with normal pointing along positive Y axis.
Definition: PlaneShape.h:36
PlaneShape()
Constructor: No members to initialize.
Definition: PlaneShape.cpp:24
Generic rigid shape class defining a shape.
Definition: Shape.h:59