Public Member Functions | Private Member Functions | Private Attributes | List of all members
SurgSim::Physics::RigidLocalization Class Reference

This class implements the localization on a RigidRepresentationBase, as a local position. More...

#include <SurgSim/Physics/RigidLocalization.h>

Inheritance diagram for SurgSim::Physics::RigidLocalization:
SurgSim::Physics::Localization

Public Member Functions

 RigidLocalization ()
 Default constructor. More...
 
 RigidLocalization (std::shared_ptr< Representation > representation)
 Constructor. More...
 
virtual ~RigidLocalization ()
 Destructor. More...
 
void setLocalPosition (const SurgSim::Math::Vector3d &p)
 Sets the local position. More...
 
const SurgSim::Math::Vector3dgetLocalPosition () const
 Gets the local position. More...
 
bool isValidRepresentation (std::shared_ptr< Representation > representation) override
 Query if 'representation' is valid representation. More...
 
- Public Member Functions inherited from SurgSim::Physics::Localization
 Localization ()
 Default constructor. More...
 
 Localization (std::shared_ptr< Representation > representation)
 Constructor. More...
 
virtual ~Localization ()
 Destructor. More...
 
void setRepresentation (std::shared_ptr< Representation > representation)
 Sets the representation. More...
 
std::shared_ptr< RepresentationgetRepresentation () const
 Gets the representation. More...
 
SurgSim::Math::Vector3d calculatePosition (double time=1.0) const
 Calculates the global position of this localization. More...
 
SurgSim::Math::Vector3d calculateVelocity (double time=1.0) const
 Calculates the global velocity of this localization. More...
 
virtual Math::RigidTransform3d getElementPose ()
 Find a pose that the localization is represented with respect to. More...
 
virtual bool moveClosestTo (const Math::Vector3d &point, bool *hasReachedEnd)
 

Private Member Functions

SurgSim::Math::Vector3d doCalculatePosition (double time) const
 Calculates the global position of this localization. More...
 
SurgSim::Math::Vector3d doCalculateVelocity (double time) const
 Calculates the global velocity of this localization. More...
 

Private Attributes

SurgSim::Math::Vector3d m_position
 3D position in local coordinates. More...
 

Detailed Description

This class implements the localization on a RigidRepresentationBase, as a local position.

Constructor & Destructor Documentation

◆ RigidLocalization() [1/2]

SurgSim::Physics::RigidLocalization::RigidLocalization ( )

Default constructor.

◆ RigidLocalization() [2/2]

SurgSim::Physics::RigidLocalization::RigidLocalization ( std::shared_ptr< Representation representation)
explicit

Constructor.

Parameters
representationThe representation to assign to this localization.

◆ ~RigidLocalization()

SurgSim::Physics::RigidLocalization::~RigidLocalization ( )
virtual

Destructor.

Member Function Documentation

◆ doCalculatePosition()

SurgSim::Math::Vector3d SurgSim::Physics::RigidLocalization::doCalculatePosition ( double  time) const
privatevirtual

Calculates the global position of this localization.

Parameters
timeThe time in [0..1] at which the position should be calculated.
Returns
The global position of the localization at the requested time.
Note
time can useful when dealing with CCD.

Implements SurgSim::Physics::Localization.

◆ doCalculateVelocity()

SurgSim::Math::Vector3d SurgSim::Physics::RigidLocalization::doCalculateVelocity ( double  time) const
privatevirtual

Calculates the global velocity of this localization.

Parameters
timeThe time in [0..1] at which the velocity should be calculated
Returns
The global velocity of the localization at the requested time
Note
time can useful when dealing with CCD

Implements SurgSim::Physics::Localization.

◆ getLocalPosition()

const SurgSim::Math::Vector3d & SurgSim::Physics::RigidLocalization::getLocalPosition ( ) const

Gets the local position.

Returns
The local position set for this localization.

◆ isValidRepresentation()

bool SurgSim::Physics::RigidLocalization::isValidRepresentation ( std::shared_ptr< Representation representation)
overridevirtual

Query if 'representation' is valid representation.

Parameters
representationThe representation.
Returns
true if valid representation, false if not.

Reimplemented from SurgSim::Physics::Localization.

◆ setLocalPosition()

void SurgSim::Physics::RigidLocalization::setLocalPosition ( const SurgSim::Math::Vector3d p)

Sets the local position.

Parameters
pThe local position to set the localization at.

Member Data Documentation

◆ m_position

SurgSim::Math::Vector3d SurgSim::Physics::RigidLocalization::m_position
private

3D position in local coordinates.


The documentation for this class was generated from the following files: