19 #ifndef SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H 20 #define SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H 60 virtual void setInitialState(std::shared_ptr<SurgSim::Math::OdeState> initialState);
62 virtual const std::shared_ptr<SurgSim::Math::OdeState>
getCurrentState()
const;
64 virtual const std::shared_ptr<SurgSim::Math::OdeState>
getPreviousState()
const;
66 virtual const std::shared_ptr<SurgSim::Math::OdeState>
getFinalState()
const;
106 virtual void update(
double dt)
override;
110 virtual void applyCorrection(
double dt,
const Eigen::VectorBlock<SurgSim::Math::Vector>& deltaVelocity)
override;
120 std::shared_ptr<SurgSim::Collision::Representation> representation)
override;
128 virtual void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
189 #endif // SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H
Definition: DriveElementFromInputBehavior.cpp:27
The Representation class defines the base class for all physics objects.
Definition: Representation.h:56
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
Ode equation of 2nd order of the form M(x,v).a = F(x, v) with (x0, v0) for initial conditions and a s...
Definition: OdeEquation.h:40
string(TOUPPER ${DEVICE}DEVICE_UPPER_CASE) option(BUILD_DEVICE_ $
Definition: CMakeLists.txt:35
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:67
IntegrationScheme
The diverse numerical integration scheme supported Each Ode Solver should have its own entry in this ...
Definition: OdeSolver.h:36
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46