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The simplest way to do this is to use an arrow marker and set it's head length to zero and it's head diameter to the same as it's shaft diameter. The reason this would be simpler is because it can be specified with two points avoiding the need to calculate the centre and orientation.

This is a bit of an abuse of the arrow marker but would look exactly the same as the cylinder and requires less code. I'll post a code example when I'm back at a computer.