rbd::parsers::Geometry::Superellipsoid Struct Reference

A Superellipsoid can approximate primitive shapes as boxes, cylinders and pyrimids while remaining strictly convex. More...

#include <parsers/RBDyn/parsers/common.h>

Public Member Functions
	Superellipsoid ()

Public Attributes
Eigen::Vector3d	size
double	epsilon1
double	epsilon2

Detailed Description

A Superellipsoid can approximate primitive shapes as boxes, cylinders and pyrimids while remaining strictly convex.

An illustration of superellipsoids can be found here https://en.wikipedia.org/wiki/Superellipsoid#/media/File:Superellipsoid_collection.png, with epsilon1 = e/2 and epsilon2 = n/2. The size of the superellipsoid is half its bounding box

Superellipsoids are not part of the URDF standard and so won't probably be available in other URDF parsers

Constructor & Destructor Documentation

Superellipsoid()

rbd::parsers::Geometry::Superellipsoid::Superellipsoid ( )

inline

Member Data Documentation

epsilon1

double rbd::parsers::Geometry::Superellipsoid::epsilon1

epsilon2

double rbd::parsers::Geometry::Superellipsoid::epsilon2

size

Eigen::Vector3d rbd::parsers::Geometry::Superellipsoid::size

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

• src/parsers/RBDyn/parsers/common.h