This class implements the localization on a RigidRepresentationBase, as a local position.
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#include <SurgSim/Physics/RigidLocalization.h>
This class implements the localization on a RigidRepresentationBase, as a local position.
◆ RigidLocalization() [1/2]
SurgSim::Physics::RigidLocalization::RigidLocalization |
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◆ RigidLocalization() [2/2]
SurgSim::Physics::RigidLocalization::RigidLocalization |
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std::shared_ptr< Representation > |
representation | ) |
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explicit |
Constructor.
- Parameters
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representation | The representation to assign to this localization. |
◆ ~RigidLocalization()
SurgSim::Physics::RigidLocalization::~RigidLocalization |
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virtual |
◆ doCalculatePosition()
Calculates the global position of this localization.
- Parameters
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time | The 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()
Calculates the global velocity of this localization.
- Parameters
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time | The 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()
Gets the local position.
- Returns
- The local position set for this localization.
◆ isValidRepresentation()
bool SurgSim::Physics::RigidLocalization::isValidRepresentation |
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std::shared_ptr< Representation > |
representation | ) |
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overridevirtual |
Query if 'representation' is valid representation.
- Parameters
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representation | The representation. |
- Returns
- true if valid representation, false if not.
Reimplemented from SurgSim::Physics::Localization.
◆ setLocalPosition()
Sets the local position.
- Parameters
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p | The local position to set the localization at. |
◆ m_position
3D position in local coordinates.
The documentation for this class was generated from the following files: