16 #ifndef SURGSIM_COLLISION_REPRESENTATION_H 17 #define SURGSIM_COLLISION_REPRESENTATION_H 21 #include <unordered_map> 44 typedef std::unordered_map<std::shared_ptr<SurgSim::Collision::Representation>,
45 std::list<std::shared_ptr<SurgSim::Collision::Contact>>>
ContactMapType;
64 virtual int getShapeType()
const = 0;
68 virtual const std::shared_ptr<SurgSim::Math::Shape> getShape()
const = 0;
77 virtual void update(
const double& dt);
Definition: DriveElementFromInputBehavior.cpp:27
string(TOUPPER ${DEVICE}DEVICE_UPPER_CASE) option(BUILD_DEVICE_ $
Definition: CMakeLists.txt:35
std::unordered_map< std::shared_ptr< SurgSim::Collision::Representation >, std::list< std::shared_ptr< SurgSim::Collision::Contact > > > ContactMapType
Definition: Representation.h:42
SurgSim::DataStructures::BufferedValue< ContactMapType > m_collisions
A map which associates a list of contacts with each collision representation.
Definition: Representation.h:83
Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to...
Definition: Representation.h:52
Representations are manifestations of a SceneElement.
Definition: Representation.h:33