RigidLocalization.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_RIGIDLOCALIZATION_H
17 #define SURGSIM_PHYSICS_RIGIDLOCALIZATION_H
18 
20 
22 #include "SurgSim/Math/Vector.h"
23 
24 namespace SurgSim
25 {
26 
27 namespace Physics
28 {
29 
32 {
33 public:
36 
39  explicit RigidLocalization(std::shared_ptr<Representation> representation);
40 
42  virtual ~RigidLocalization();
43 
47 
51 
55  bool isValidRepresentation(std::shared_ptr<Representation> representation) override;
56 
57 private:
63 
65 
68 };
69 
70 }; // namespace Physics
71 
72 }; // namespace SurgSim
73 
74 #endif // SURGSIM_PHYSICS_RIGIDLOCALIZATION_H
Vector.h
SurgSim::Physics::RigidLocalization::~RigidLocalization
virtual ~RigidLocalization()
Destructor.
Definition: RigidLocalization.cpp:37
SurgSim::Physics::RigidLocalization::doCalculateVelocity
SurgSim::Math::Vector3d doCalculateVelocity(double time) const
Calculates the global velocity of this localization.
Definition: RigidLocalization.cpp:81
SurgSim::Physics::RigidLocalization::getLocalPosition
const SurgSim::Math::Vector3d & getLocalPosition() const
Gets the local position.
Definition: RigidLocalization.cpp:47
SurgSim::Physics::RigidLocalization::m_position
SurgSim::Math::Vector3d m_position
3D position in local coordinates.
Definition: RigidLocalization.h:67
SurgSim::Physics::Localization
This class localize a point on a representation (representation specific)
Definition: Localization.h:39
SurgSim::Math::Vector3d
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::RigidLocalization::doCalculatePosition
SurgSim::Math::Vector3d doCalculatePosition(double time) const
Calculates the global position of this localization.
Definition: RigidLocalization.cpp:52
RigidTransform.h
Localization.h
SurgSim::Physics::RigidLocalization
This class implements the localization on a RigidRepresentationBase, as a local position.
Definition: RigidLocalization.h:31
SurgSim::Physics::RigidLocalization::setLocalPosition
void setLocalPosition(const SurgSim::Math::Vector3d &p)
Sets the local position.
Definition: RigidLocalization.cpp:42
SurgSim::Physics::RigidLocalization::isValidRepresentation
bool isValidRepresentation(std::shared_ptr< Representation > representation) override
Query if 'representation' is valid representation.
Definition: RigidLocalization.cpp:111
SurgSim::Physics::RigidLocalization::RigidLocalization
RigidLocalization()
Default constructor.
Definition: RigidLocalization.cpp:24