dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/dynamics/BoxShape.hpp

@@ -0,0 +1,90 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_BOXSHAPE_HPP_
+#define DART_DYNAMICS_BOXSHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+class BoxShape : public Shape
+{
+public:
+  /// \brief Constructor.
+  explicit BoxShape(const Eigen::Vector3d& _size);
+
+  /// \brief Destructor.
+  virtual ~BoxShape();
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  /// \brief Set size of this box.
+  void setSize(const Eigen::Vector3d& _size);
+
+  /// \brief Get size of this box.
+  const Eigen::Vector3d& getSize() const;
+
+  /// \brief Compute volume from given properties
+  static double computeVolume(const Eigen::Vector3d& size);
+
+  /// \brief Compute moments of inertia of a box
+  static Eigen::Matrix3d computeInertia(
+      const Eigen::Vector3d& size, double mass);
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  // Documentation inherited.
+  void updateVolume() const override;
+
+private:
+  /// \brief Side lengths of the box
+  Eigen::Vector3d mSize;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_BOXSHAPE_HPP_

include/dart/dynamics/Branch.hpp

@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_BRANCH_HPP_
+#define DART_DYNAMICS_BRANCH_HPP_
+
+#include <dart/dynamics/Linkage.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// Branch is a specialized type of Linkage that represents a complete subtree
+/// of a Skeleton. The Branch will start at a specific BodyNode and will include
+/// every BodyNode that descends from it, all the way to the leaves.
+class Branch : public Linkage
+{
+public:
+  struct Criteria
+  {
+    /// Constructor. Requires a starting BodyNode.
+    Criteria(BodyNode* _start);
+
+    /// Return a vector of BodyNodes that form a full subtree, starting from
+    /// mStart
+    std::vector<BodyNode*> satisfy() const;
+
+    /// The BodyNode where the Branch starts
+    WeakBodyNodePtr mStart;
+
+    /// Convert this Criteria into Linkage criteria
+    Linkage::Criteria convert() const;
+
+    /// Operator for implicit conversion to a Linkage::Criteria
+    operator Linkage::Criteria() const;
+
+    /// Converts Linkage::Criteria to Branch::Criteria
+    static Criteria convert(const Linkage::Criteria& criteria);
+  };
+
+  /// Create a Branch
+  static BranchPtr create(
+      const Branch::Criteria& _criteria, const std::string& _name = "Branch");
+
+  /// Creates and returns a clone of this Branch.
+  BranchPtr cloneBranch() const;
+
+  /// Creates and returns a clone of this Branch.
+  BranchPtr cloneBranch(const std::string& cloneName) const;
+
+  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
+  using MetaSkeleton::cloneMetaSkeleton;
+
+  // Documentation inherited
+  MetaSkeletonPtr cloneMetaSkeleton(
+      const std::string& cloneName) const override;
+
+  /// Returns false if a new BodyNode has been attached to any BodyNode of this
+  /// Branch, or if a BodyNode of this Branch has been detached.
+  bool isStillBranch() const;
+
+protected:
+  /// Constructor for the Branch class. Note that you can simply pass a BodyNode
+  /// pointer into this constructor, and it will be implicitly converted into a
+  /// Branch::Criteria.
+  Branch(
+      const Branch::Criteria& _criteria, const std::string& _name = "Branch");
+
+  // Documentation inherited
+  void update() override;
+
+  /// The original number of child nodes for each BodyNode of this Branch
+  std::vector<std::size_t> mNumChildNodes;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_BRANCH_HPP_

include/dart/dynamics/CapsuleShape.hpp

@@ -0,0 +1,105 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_CAPSULESHAPE_HPP_
+#define DART_DYNAMICS_CAPSULESHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// CapsuleShape represents a three-dimensional geometric shape consisting of a
+/// cylinder with hemispherical ends.
+class CapsuleShape : public Shape
+{
+public:
+  /// Constructor.
+  /// \param[in] radius Radius of the capsule.
+  /// \param[in] height Height of the cylindrical part.
+  CapsuleShape(double radius, double height);
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Get shape type string for this shape.
+  static const std::string& getStaticType();
+
+  /// Get the radius of the capsule.
+  double getRadius() const;
+
+  /// Set the radius of the capsule.
+  void setRadius(double radius);
+
+  /// Get the height of the cylindrical part.
+  double getHeight() const;
+
+  /// Set the height of the cylindrical part.
+  void setHeight(double height);
+
+  /// Compute volume from given properties.
+  /// \param[in] radius Radius of the capsule.
+  /// \param[in] height Height of the cylindrical part.
+  static double computeVolume(double radius, double height);
+
+  /// Compute moments of inertia of a capsule
+  /// \param[in] radius Radius of the capsule.
+  /// \param[in] height Height of the cylindrical part.
+  /// \param[in] mass Mass of the capsule.
+  static Eigen::Matrix3d computeInertia(
+      double radius, double height, double mass);
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  // Documentation inherited.
+  void updateVolume() const override;
+
+private:
+  /// Radius of the capsule.
+  double mRadius;
+
+  /// Height of the cylindrical part.
+  double mHeight;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_CAPSULESHAPE_HPP_

include/dart/dynamics/Chain.hpp

@@ -0,0 +1,142 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_CHAIN_HPP_
+#define DART_DYNAMICS_CHAIN_HPP_
+
+#include <dart/dynamics/Linkage.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// Chain is a specialized type of Linkage that represents a single unbranching
+/// and fully connected sequence of BodyNodes. A chain will start from a
+/// specified BodyNode and include every BodyNode on the way to a target
+/// BodyNode, except it will stop if it encounters a branching (BodyNode with
+/// multiple child BodyNodes) or a FreeJoint.
+class Chain : public Linkage
+{
+public:
+  struct Criteria
+  {
+    /// Constructor for Chain::Criteria
+    Criteria(
+        BodyNode* start,
+        BodyNode* target,
+        bool includeUpstreamParentJoint = false);
+
+    /// Return a vector of BodyNodes that form a chain
+    std::vector<BodyNode*> satisfy() const;
+
+    /// mStart will be the first BodyNode in the chain
+    WeakBodyNodePtr mStart;
+
+    /// mTarget will be the final BodyNode in the chain, unless there is a
+    /// branching or a FreeJoint along the way
+    WeakBodyNodePtr mTarget;
+
+    /// Set this to true if the parent joint of whichever is upstream of the
+    /// other should be included.
+    bool mIncludeUpstreamParentJoint;
+
+    /// Convert this Criteria into Linkage::Criteria
+    Linkage::Criteria convert() const;
+
+    /// Operator for implicit conversion to a Linkage::Criteria
+    operator Linkage::Criteria() const;
+
+    /// Converts Linkage::Criteria to Chain::Criteria
+    static Criteria convert(const Linkage::Criteria& criteria);
+  };
+
+  /// This enum is used to specify to the create() function that the parent
+  /// joint of whichever is upstream of the other should be included in the
+  /// Chain that gets generated.
+  enum IncludeUpstreamParentJointTag
+  {
+    IncludeUpstreamParentJoint
+  };
+
+  /// Create a Chain given some Chain::Criteria
+  static ChainPtr create(
+      const Chain::Criteria& _criteria, const std::string& _name = "Chain");
+
+  /// Create a Chain given a start and a target BodyNode. Note that whichever
+  /// BodyNode is upstream of the other will be excluded from the Chain.
+  static ChainPtr create(
+      BodyNode* _start, BodyNode* _target, const std::string& _name = "Chain");
+
+  /// Create a Chain given a start and a target BodyNode. In this version, both
+  /// BodyNodes will be included in the Chain that gets created.
+  static ChainPtr create(
+      BodyNode* _start,
+      BodyNode* _target,
+      IncludeUpstreamParentJointTag,
+      const std::string& _name = "Chain");
+
+  /// Creates and returns a clone of this Chain.
+  ChainPtr cloneChain() const;
+
+  /// Creates and returns a clone of this Chain.
+  ChainPtr cloneChain(const std::string& cloneName) const;
+
+  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
+  using MetaSkeleton::cloneMetaSkeleton;
+
+  // Documentation inherited
+  MetaSkeletonPtr cloneMetaSkeleton(
+      const std::string& cloneName) const override;
+
+  /// Returns false if this Chain has been broken, or some new Branching has
+  /// been added.
+  bool isStillChain() const;
+
+protected:
+  /// Constructor for the Chain class
+  Chain(const Chain::Criteria& _criteria, const std::string& _name = "Chain");
+
+  /// Alternative constructor for the Chain class
+  Chain(
+      BodyNode* _start, BodyNode* _target, const std::string& _name = "Chain");
+
+  /// Alternative constructor for the Chain class
+  Chain(
+      BodyNode* _start,
+      BodyNode* _target,
+      IncludeUpstreamParentJointTag,
+      const std::string& _name = "Chain");
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_CHAIN_HPP_

include/dart/dynamics/CompositeNode.hpp

@@ -0,0 +1,114 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_COMPOSITENODE_HPP_
+#define DART_DYNAMICS_COMPOSITENODE_HPP_
+
+#include <dart/dynamics/Node.hpp>
+
+#include <dart/common/Composite.hpp>
+
+namespace dart {
+namespace dynamics {
+
+//==============================================================================
+template <class Base>
+class CompositeStateNode : public Base
+{
+public:
+  using State = Node::MakeState<common::Composite::State>;
+
+  /// Forwarding constructor
+  template <typename... Args>
+  CompositeStateNode(Args&&... args) : Base(std::forward<Args>(args)...)
+  {
+    // Do nothing
+  }
+
+  // Documentation inherited from Node
+  void setNodeState(const Node::State& otherState) override final;
+
+  // Documentation inherited from Node
+  std::unique_ptr<Node::State> getNodeState() const override final;
+
+  // Documentation inherited from Node
+  void copyNodeStateTo(
+      std::unique_ptr<Node::State>& outputState) const override final;
+};
+
+//==============================================================================
+template <class Base>
+class CompositePropertiesNode : public Base
+{
+public:
+  using Properties = Node::MakeProperties<common::Composite::Properties>;
+
+  /// Forwarding constructor
+  template <typename... Args>
+  CompositePropertiesNode(Args&&... args) : Base(std::forward<Args>(args)...)
+  {
+    // Do nothing
+  }
+
+  // Documentation inherited from Node
+  void setNodeProperties(
+      const Node::Properties& otherProperties) override final;
+
+  // Documentation inherited from Node
+  std::unique_ptr<Node::Properties> getNodeProperties() const override final;
+
+  // Documentation inherited from Node
+  void copyNodePropertiesTo(
+      std::unique_ptr<Node::Properties>& outputProperties) const override final;
+};
+
+//==============================================================================
+template <class Base>
+class CompositeNode : public CompositePropertiesNode<CompositeStateNode<Base>>
+{
+public:
+  /// Forwarding constructor
+  template <typename... Args>
+  CompositeNode(Args&&... args)
+    : CompositePropertiesNode<CompositeStateNode<Base>>(
+        std::forward<Args>(args)...)
+  {
+    // Do nothing
+  }
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#include <dart/dynamics/detail/CompositeNode.hpp>
+
+#endif // DART_DYNAMICS_COMPOSITENODE_HPP_

include/dart/dynamics/ConeShape.hpp

@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_CONESHAPE_HPP_
+#define DART_DYNAMICS_CONESHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// ConeShape represents a three-dimensional geometric shape that tapers
+/// smoothly from a flat circular base to a point called the apex or vertex.
+class ConeShape : public Shape
+{
+public:
+  /// Constructor.
+  /// \param[in] radius Radius of the circular base.
+  /// \param[in] height Lateral height of the cone.
+  ConeShape(double radius, double height);
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Get shape type string for this shape.
+  static const std::string& getStaticType();
+
+  /// Get the radius of the circular base.
+  double getRadius() const;
+
+  /// Set the radius of the circular base.
+  void setRadius(double radius);
+
+  /// Get the lateral height of the cone.
+  double getHeight() const;
+
+  /// Set the lateral height of the cone.
+  void setHeight(double height);
+
+  /// Compute volume from given properties.
+  /// \param[in] radius Radius of the circular base.
+  /// \param[in] height Lateral height of the cone.
+  static double computeVolume(double radius, double height);
+
+  /// Compute moments of inertia of a cone at the center of geometric center
+  /// (half of the z-axis segment between the tip and the center of the base
+  /// disk).
+  /// \param[in] radius Radius of the circular base.
+  /// \param[in] height Lateral height of the cone.
+  /// \param[in] mass The mass of the cone.
+  static Eigen::Matrix3d computeInertia(
+      double radius, double height, double mass);
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  // Documentation inherited.
+  void updateVolume() const override;
+
+private:
+  /// Radius of the circular base.
+  double mRadius;
+
+  /// Height of the cylindrical part.
+  double mHeight;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_CONESHAPE_HPP_