dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/dynamics/CylinderShape.hpp

@@ -0,0 +1,96 @@
+/*
+ * 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_CYLINDERSHAPE_HPP_
+#define DART_DYNAMICS_CYLINDERSHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+class CylinderShape : public Shape
+{
+public:
+  /// \brief Constructor.
+  CylinderShape(double _radius, double _height);
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  /// \brief
+  double getRadius() const;
+
+  /// \brief
+  void setRadius(double _radius);
+
+  /// \brief
+  double getHeight() const;
+
+  /// \brief
+  void setHeight(double _height);
+
+  /// \brief Compute volume from given properties
+  static double computeVolume(double radius, double height);
+
+  /// \brief Compute moments of inertia of a cylinder
+  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:
+  /// \brief
+  double mRadius;
+
+  /// \brief Height along z-axis.
+  double mHeight;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_CYLINDERSHAPE_HPP_

include/dart/dynamics/DegreeOfFreedom.hpp

@@ -0,0 +1,415 @@
+/*
+ * 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_DEGREEOFFREEDOM_HPP_
+#define DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
+
+#include <dart/dynamics/SmartPointer.hpp>
+
+#include <dart/common/ClassWithVirtualBase.hpp>
+#include <dart/common/Subject.hpp>
+
+#include <Eigen/Core>
+
+#include <memory>
+#include <string>
+
+namespace dart {
+namespace dynamics {
+
+class Skeleton;
+class Joint;
+class BodyNode;
+
+/// DegreeOfFreedom class is a proxy class for accessing single degrees of
+/// freedom (aka generalized coordinates) of the Skeleton.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class DegreeOfFreedom : public virtual common::Subject
+{
+public:
+  friend class Joint;
+  template <class>
+  friend class GenericJoint;
+  friend class Skeleton;
+
+  DegreeOfFreedom(const DegreeOfFreedom&) = delete;
+
+  /// Change the name of this DegreeOfFreedom
+  ///
+  /// The _preserveName argument will be passed to the preserveName(bool)
+  /// function. Set _preserveName to true when customizing the name of the
+  /// DegreeOfFreedom; that way the name will not be overwritten if the Joint
+  /// name changes.
+  const std::string& setName(
+      const std::string& _name, bool _preserveName = true);
+
+  /// \brief Get the name of this DegreeOfFreedom
+  ///
+  /// DegreeOfFreedom's name will be automatically given by the joint it belongs
+  /// to. Below is the naming policy:
+  ///   - GenericJoint<RealSpace> \n
+  ///       Same name as the joint it belongs to.
+  ///   - GenericJoint<[multi_dof_joint_space]> \n
+  ///       "[Joint_name]+[affix]" is used. The affix is determined according
+  ///       to the role they play in the joint. For example, suppose there's a
+  ///       TranslationalJoint named "trans_joint". Then the each dof to be
+  ///       named "trans_joint_x", "trans_joint_y", and "trans_joint_z".
+  ///   - ZeroDofJoint \n
+  ///       ZeroDofJoint doesn't have dof.
+  ///
+  /// The default name can be renamed by setName() as well.
+  const std::string& getName() const;
+
+  /// Prevent Joint::updateDegreeOfFreedomNames() from changing the name of this
+  /// degree of freedom. This is useful if you (the user) have customized the
+  /// name for this DegreeOfFreedom and want to prevent DART from automatically
+  /// updating its name if its parent Joint properties ever change.
+  void preserveName(bool _preserve);
+
+  /// Check whether DegreeOfFreedom::lockName(bool) is activate
+  bool isNamePreserved() const;
+
+  /// Get this DegreeOfFreedom's index within its Skeleton
+  std::size_t getIndexInSkeleton() const;
+
+  /// Get this DegreeOfFreedom's index within its tree
+  std::size_t getIndexInTree() const;
+
+  /// Get this DegreeOfFreedom's index within its Joint
+  std::size_t getIndexInJoint() const;
+
+  /// Get the index of the tree that this DegreeOfFreedom belongs to
+  std::size_t getTreeIndex() const;
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Command
+  //----------------------------------------------------------------------------
+
+  /// Set the command of this DegreeOfFreedom
+  void setCommand(double _command);
+
+  /// Get the command of this DegreeOfFreedom
+  double getCommand() const;
+
+  /// Set the command of this DegreeOfFreedom to zero
+  void resetCommand();
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Position
+  //----------------------------------------------------------------------------
+
+  /// Set the position of this DegreeOfFreedom
+  void setPosition(double _position);
+
+  /// Get the position of this DegreeOfFreedom
+  double getPosition() const;
+
+  /// Set the position limits of this DegreeOfFreedom
+  void setPositionLimits(double _lowerLimit, double _upperLimit);
+
+  /// Set the position limits of this DegreeOfFreedom
+  void setPositionLimits(const std::pair<double, double>& _limits);
+
+  /// Get the position limits of this DegreeOfFreedom
+  std::pair<double, double> getPositionLimits() const;
+
+  /// Set the lower position limit of this DegreeOfFreedom
+  void setPositionLowerLimit(double _limit);
+
+  /// Get the lower position limit of this DegreeOfFreedom
+  double getPositionLowerLimit() const;
+
+  /// Set the upper position limit of this DegreeOfFreedom
+  void setPositionUpperLimit(double _limit);
+
+  /// Get the upper position limit of this DegreeOfFreedom
+  double getPositionUpperLimit() const;
+
+  /// Get whether this DOF is cyclic. Return true if and only if an infinite
+  /// number of DOF positions produce the same local transform. If this DOF is
+  /// part of a multi-DOF joint, then producing a cycle may require altering
+  /// the position of the Joint's other DOFs.
+  bool isCyclic() const;
+
+  /// Get whether the position of this DegreeOfFreedom has limits.
+  bool hasPositionLimit() const;
+
+  /// Set the position of this DegreeOfFreedom to zero
+  void resetPosition();
+
+  /// Change the position that resetPosition() will give to this DegreeOfFreedom
+  void setInitialPosition(double _initial);
+
+  /// Get the position that resetPosition() will give to this DegreeOfFreedom
+  double getInitialPosition() const;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Velocity
+  //----------------------------------------------------------------------------
+
+  /// Set the velocity of this DegreeOfFreedom
+  void setVelocity(double _velocity);
+
+  /// Get the velocity of this DegreeOfFreedom
+  double getVelocity() const;
+
+  /// Set the velocity limits of this DegreeOfFreedom
+  void setVelocityLimits(double _lowerLimit, double _upperLimit);
+
+  /// Set the velocity limtis of this DegreeOfFreedom
+  void setVelocityLimits(const std::pair<double, double>& _limits);
+
+  /// Get the velocity limits of this DegreeOfFreedom
+  std::pair<double, double> getVelocityLimits() const;
+
+  /// Set the lower velocity limit of this DegreeOfFreedom
+  void setVelocityLowerLimit(double _limit);
+
+  /// Get the lower velocity limit of this DegreeOfFreedom
+  double getVelocityLowerLimit() const;
+
+  /// Set the upper velocity limit of this DegreeOfFreedom
+  void setVelocityUpperLimit(double _limit);
+
+  /// Get the upper Velocity limit of this DegreeOfFreedom
+  double getVelocityUpperLimit() const;
+
+  /// Set the velocity of this DegreeOfFreedom to zero
+  void resetVelocity();
+
+  /// Change the velocity that resetVelocity() will give to this DegreeOfFreedom
+  void setInitialVelocity(double _initial);
+
+  /// Get the velocity that resetVelocity() will give to this DegreeOfFreedom
+  double getInitialVelocity() const;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Acceleration
+  //----------------------------------------------------------------------------
+
+  /// Set the acceleration of this DegreeOfFreedom
+  void setAcceleration(double _acceleration);
+
+  /// Get the acceleration of this DegreeOfFreedom
+  double getAcceleration() const;
+
+  /// Set the acceleration of this DegreeOfFreedom to zero
+  void resetAcceleration();
+
+  /// Set the acceleration limits of this DegreeOfFreedom
+  void setAccelerationLimits(double _lowerLimit, double _upperLimit);
+
+  /// Set the acceleartion limits of this DegreeOfFreedom
+  void setAccelerationLimits(const std::pair<double, double>& _limits);
+
+  /// Get the acceleration limits of this DegreeOfFreedom
+  std::pair<double, double> getAccelerationLimits() const;
+
+  /// Set the lower acceleration limit of this DegreeOfFreedom
+  void setAccelerationLowerLimit(double _limit);
+
+  /// Get the lower acceleration limit of this DegreeOfFreedom
+  double getAccelerationLowerLimit() const;
+
+  /// Set the upper acceleration limit of this DegreeOfFreedom
+  void setAccelerationUpperLimit(double _limit);
+
+  /// Get the upper acceleration limit of this DegreeOfFreedom
+  double getAccelerationUpperLimit() const;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Force
+  //----------------------------------------------------------------------------
+
+  /// Set the generalized force of this DegreeOfFreedom
+  void setForce(double _force);
+
+  /// Get the generalized force of this DegreeOfFreedom
+  double getForce() const;
+
+  /// Set the generalized force of this DegreeOfFreedom to zero
+  void resetForce();
+
+  /// Set the generalized force limits of this DegreeOfFreedom
+  void setForceLimits(double _lowerLimit, double _upperLimit);
+
+  /// Set the generalized force limits of this DegreeOfFreedom
+  void setForceLimits(const std::pair<double, double>& _limits);
+
+  /// Get the generalized force limits of this DegreeOfFreedom
+  std::pair<double, double> getForceLimits() const;
+
+  /// Set the lower generalized force limit of this DegreeOfFreedom
+  void setForceLowerLimit(double _limit);
+
+  /// Get the lower generalized force limit of this DegreeOfFreedom
+  double getForceLowerLimit() const;
+
+  /// Set the upper generalized force limit of this DegreeOfFreedom
+  void setForceUpperLimit(double _limit);
+
+  /// Get the upper generalized force limit of this DegreeOfFreedom
+  double getForceUpperLimit() const;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Velocity change
+  //----------------------------------------------------------------------------
+
+  /// Set the velocity change of this DegreeOfFreedom
+  void setVelocityChange(double _velocityChange);
+
+  /// Get the velocity change of this DegreeOfFreedom
+  double getVelocityChange() const;
+
+  /// Set the velocity change of this DegreeOfFreedom to zero
+  void resetVelocityChange();
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Constraint impulse
+  //----------------------------------------------------------------------------
+
+  /// Set the constraint impulse of this generalized coordinate
+  void setConstraintImpulse(double _impulse);
+
+  /// Get the constraint impulse of this generalized coordinate
+  double getConstraintImpulse() const;
+
+  /// Set the constraint impulse of this generalized coordinate to zero
+  void resetConstraintImpulse();
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Passive forces - spring, viscous friction, Coulomb friction
+  //----------------------------------------------------------------------------
+
+  /// Set stiffness of the spring force for this generalized coordinate
+  void setSpringStiffness(double _k);
+
+  /// Get stiffness of the spring force for this generalized coordinate
+  double getSpringStiffness() const;
+
+  /// Set rest position for the spring force of this generalized coordinate
+  void setRestPosition(double _q0);
+
+  /// Get rest position for the spring force of this generalized coordinate
+  double getRestPosition() const;
+
+  /// Set coefficient of damping (viscous friction) force for this generalized
+  /// coordinate
+  void setDampingCoefficient(double _coeff);
+
+  /// Get coefficient of damping (viscous friction) force for this generalized
+  /// coordinate
+  double getDampingCoefficient() const;
+
+  /// Set Coulomb friction force for this generalized coordinate
+  void setCoulombFriction(double _friction);
+
+  /// Get Coulomb friction force for this generalized coordinate
+  double getCoulombFriction() const;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Relationships
+  //----------------------------------------------------------------------------
+
+  /// Get the Joint that this DegreeOfFreedom belongs to
+  Joint* getJoint();
+
+  /// Get the Joint that this DegreeOfFreedom belongs to
+  const Joint* getJoint() const;
+
+  /// Get the Skeleton that this DegreeOfFreedom is inside of
+  SkeletonPtr getSkeleton();
+
+  /// Get the Skeleton that this DegreeOfFreedom is inside of
+  ConstSkeletonPtr getSkeleton() const;
+
+  /// Get the BodyNode downstream of this DegreeOfFreedom
+  BodyNode* getChildBodyNode();
+
+  /// Get the BodyNode downstream of this DegreeOfFreedom
+  const BodyNode* getChildBodyNode() const;
+
+  /// Get the BodyNode upstream of this DegreeOfFreedom
+  BodyNode* getParentBodyNode();
+
+  /// Get the BodyNode upstream of this DegreeOfFreedom
+  const BodyNode* getParentBodyNode() const;
+
+  /// \}
+
+protected:
+  /// The constructor is protected so that only Joints can create
+  /// DegreeOfFreedom classes
+  DegreeOfFreedom(Joint* _joint, std::size_t _indexInJoint);
+
+  /// \brief Index of this DegreeOfFreedom within its Joint
+  ///
+  /// The index is determined when this DegreeOfFreedom is created by the Joint
+  /// it belongs to. Note that the index should be unique within the Joint.
+  std::size_t mIndexInJoint;
+
+  /// Index of this DegreeOfFreedom within its Skeleton
+  std::size_t mIndexInSkeleton;
+
+  /// Index of this DegreeOfFreedom within its tree
+  std::size_t mIndexInTree;
+
+  /// The joint that this DegreeOfFreedom belongs to
+  Joint* mJoint;
+  // Note that we do not need to store BodyNode or Skeleton, because we can
+  // access them through this joint pointer. Moreover, we never need to check
+  // whether mJoint is nullptr, because only Joints are allowed to create a
+  // DegreeOfFreedom and every DegreeOfFreedom is deleted when its Joint is
+  // destructed.
+};
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DEGREEOFFREEDOM_HPP_

include/dart/dynamics/EllipsoidShape.hpp

@@ -0,0 +1,115 @@
+/*
+ * 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_ELLIPSOIDSHAPE_HPP_
+#define DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+class EllipsoidShape : public Shape
+{
+public:
+  /// \brief Constructor.
+  explicit EllipsoidShape(const Eigen::Vector3d& diameters);
+  // TODO(JS): In order to follow the commonly used convention, change the
+  // constructor to take radii instead of diameters in DART 7.
+
+  /// \brief Destructor.
+  virtual ~EllipsoidShape();
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  /// \brief Set diameters of this ellipsoid.
+  /// \deprecated Deprecated in 6.2. Please use setDiameters() instead.
+  DART_DEPRECATED(6.2)
+  void setSize(const Eigen::Vector3d& diameters);
+
+  /// \brief Get diameters of this ellipsoid.
+  /// \deprecated Deprecated in 6.2. Please use getDiameters() instead.
+  DART_DEPRECATED(6.2)
+  const Eigen::Vector3d& getSize() const;
+
+  /// \brief Set diameters of this ellipsoid.
+  void setDiameters(const Eigen::Vector3d& diameters);
+
+  /// \brief Get diameters of this ellipsoid.
+  const Eigen::Vector3d& getDiameters() const;
+
+  /// Set radii of this ellipsoid.
+  void setRadii(const Eigen::Vector3d& radii);
+
+  /// Get radii of this ellipsoid.
+  const Eigen::Vector3d getRadii() const;
+
+  /// \brief Compute volume from given properties
+  static double computeVolume(const Eigen::Vector3d& diameters);
+  // TODO(JS): In order to follow the commonly used convention, change to take
+  // radii instead of diameters in DART 7.
+
+  /// \brief Compute moments of inertia of a ellipsoid
+  static Eigen::Matrix3d computeInertia(
+      const Eigen::Vector3d& diameters, double mass);
+  // TODO(JS): In order to follow the commonly used convention, change to take
+  // radii instead of diameters in DART 7.
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+  /// \brief True if all the radii are exactly eqaul.
+  bool isSphere(void) const;
+
+protected:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  // Documentation inherited.
+  void updateVolume() const override;
+
+private:
+  /// \brief Diameters of this ellipsoid
+  Eigen::Vector3d mDiameters;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_