16 #ifndef SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H 17 #define SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H 28 class RigidRepresentationBase;
47 virtual void update(
const double& dt)
override;
59 virtual const std::shared_ptr<SurgSim::Math::Shape>
getShape()
const override;
65 void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);
77 std::shared_ptr<SurgSim::Math::Shape>
m_shape;
83 #endif // SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H Definition: DriveElementFromInputBehavior.cpp:27
std::shared_ptr< SurgSim::Math::Shape > m_shape
Definition: RigidCollisionRepresentation.h:77
void setRigidRepresentation(std::shared_ptr< SurgSim::Physics::RigidRepresentationBase > representation)
Set rigid representation.
Definition: RigidCollisionRepresentation.cpp:51
void setShape(std::shared_ptr< SurgSim::Math::Shape > shape)
Set the shape The default is to use the shape of the Rigid Representation, this will override that sh...
Definition: RigidCollisionRepresentation.cpp:82
virtual SurgSim::Math::RigidTransform3d getPose() const override
Get the pose of the representation.
Definition: RigidCollisionRepresentation.cpp:87
std::shared_ptr< SurgSim::Physics::RigidRepresentationBase > getRigidRepresentation()
Gets physics representation.
Definition: RigidCollisionRepresentation.cpp:57
string(TOUPPER ${DEVICE}DEVICE_UPPER_CASE) option(BUILD_DEVICE_ $
Definition: CMakeLists.txt:35
virtual void update(const double &dt) override
Update the representation.
Definition: RigidCollisionRepresentation.cpp:42
std::weak_ptr< SurgSim::Physics::RigidRepresentationBase > m_physicsRepresentation
Definition: RigidCollisionRepresentation.h:76
Collision Representation class that wraps a RigidRepresentation, this can be used to strictly tie the...
Definition: RigidCollisionRepresentation.h:35
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
virtual const std::shared_ptr< SurgSim::Math::Shape > getShape() const override
Get the shape.
Definition: RigidCollisionRepresentation.cpp:67
virtual int getShapeType() const override
Get the shape type id.
Definition: RigidCollisionRepresentation.cpp:62
SURGSIM_CLASSNAME(SurgSim::Physics::RigidCollisionRepresentation)
Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to...
Definition: Representation.h:52
RigidCollisionRepresentation(const std::string &name)
Constructor.
Definition: RigidCollisionRepresentation.cpp:31
virtual ~RigidCollisionRepresentation()
Destructor.
Definition: RigidCollisionRepresentation.cpp:38
SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation)