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16 #ifndef SURGSIM_PHYSICS_LOCALIZATION_H
17 #define SURGSIM_PHYSICS_LOCALIZATION_H
28 namespace DataStructures
47 explicit Localization(std::shared_ptr<Representation> representation);
108 #endif // SURGSIM_PHYSICS_LOCALIZATION_H
virtual ~Localization()
Destructor.
Definition: Localization.cpp:34
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
This class localize a point on a representation (representation specific)
Definition: Localization.h:39
virtual SurgSim::Math::Vector3d doCalculateVelocity(double time) const =0
Calculates the global velocity of this localization.
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:29
virtual bool isValidRepresentation(std::shared_ptr< Representation > representation)
Definition: Localization.cpp:69
std::shared_ptr< Representation > getRepresentation() const
Gets the representation.
Definition: Localization.cpp:50
virtual SurgSim::Math::Vector3d doCalculatePosition(double time) const =0
Calculates the global position of this localization.
std::shared_ptr< Representation > m_representation
The representation on which the localization is defined.
Definition: Localization.h:101
Localization()
Default constructor.
Definition: Localization.cpp:26
SurgSim::Math::Vector3d calculateVelocity(double time=1.0) const
Calculates the global velocity of this localization.
Definition: Localization.cpp:62
void setRepresentation(std::shared_ptr< Representation > representation)
Sets the representation.
Definition: Localization.cpp:38
virtual Math::RigidTransform3d getElementPose()
Find a pose that the localization is represented with respect to.
Definition: Localization.cpp:75
SurgSim::Math::Vector3d calculatePosition(double time=1.0) const
Calculates the global position of this localization.
Definition: Localization.cpp:55
virtual bool moveClosestTo(const Math::Vector3d &point, bool *hasReachedEnd)
Definition: Localization.cpp:82