# collisionCylinder

Create collision cylinder geometry

## Description

Use collisionCylinder to create a cylinder collision geometry centered at the origin.

## Creation

### Description

example

CYL = collisionCylinder(Radius,Length) creates a cylinder collision geometry with a specified Radius and Length. The cylinder is axis-aligned with its own body-fixed frame. The side of the cylinder lies along the z-axis. The origin of the body-fixed frame is at the center of the cylinder.

## Properties

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Radius of cylinder, specified as a positive scalar. Units are in meters.

Data Types: double

Length of cylinder, specified as a positive scalar. Units are in meters.

Data Types: double

Pose of the collision geometry relative to the world frame, specified as a 4-by-4 homogeneous matrix. You can change the pose after you create the collision geometry.

Data Types: double

## Object Functions

 show Show collision geometry convertToCollisionMesh Convert collision primitive geometry into collision mesh geometry fitCollisionCapsule Fit collision capsule around collision geometry

## Examples

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Create a cylinder collision geometry centered at the origin. The cylinder is 4 meters long with a radius of 1 meter.

len = 4;
cyl =
collisionCylinder with properties:

Length: 4
Pose: [4x4 double]

Visualize the cylinder.

show(cyl)
title('Cylinder')

Create a homogeneous transformation that corresponds to a clockwise rotation of $\pi /4$ radians about the y-axis. Set the cylinder pose to the new matrix. Show the cylinder.

ang = pi/4;
mat = axang2tform([0 1 0 ang]);
cyl.Pose = mat;
show(cyl)

## Version History

Introduced in R2019b