Go to the documentation of this file.
16 #ifndef SURGSIM_PHYSICS_FEM2DREPRESENTATION_H
17 #define SURGSIM_PHYSICS_FEM2DREPRESENTATION_H
31 namespace DataStructures
33 struct IndexedLocalCoordinate;
49 SURGSIM_STATIC_REGISTRATION(Fem2DRepresentation);
69 void setFem(std::shared_ptr<SurgSim::Framework::Asset> mesh);
72 std::shared_ptr<Fem2D>
getFem()
const;
82 void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
107 #endif // SURGSIM_PHYSICS_FEM2DREPRESENTATION_H
Fem2DRepresentation(const std::string &name)
Constructor.
Definition: Fem2DRepresentation.cpp:55
std::shared_ptr< Localization > createNodeLocalization(size_t nodeId)
Helper method: create a localization for a node.
Definition: Fem2DRepresentation.cpp:197
void transformState(std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform) override
Transform a state using a given transformation.
Definition: Fem2DRepresentation.cpp:256
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
std::shared_ptr< Localization > createLocalization(const SurgSim::DataStructures::Location &location) override
Computes a localized coordinate w.r.t this representation, given a Location object.
Definition: Fem2DRepresentation.cpp:233
Finite Element Model (a.k.a FEM) is a deformable model (a set of nodes connected by FemElement).
Definition: FemRepresentation.h:46
std::shared_ptr< Fem2D > getFem() const
Definition: Fem2DRepresentation.cpp:123
void addExternalGeneralizedForce(std::shared_ptr< Localization > localization, const SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix()) override
Add an external generalized force applied on a specific localization.
Definition: Fem2DRepresentation.cpp:128
Definition: CompoundShapeToGraphics.cpp:29
A generic (size_t index, Vector coordinate) pair.
Definition: IndexedLocalCoordinate.h:29
void setFem(std::shared_ptr< SurgSim::Framework::Asset > mesh)
Sets the fem mesh asset.
Definition: Fem2DRepresentation.cpp:77
void loadFem(const std::string &fileName) override
Loads the FEM file into an Fem class data structure.
Definition: Fem2DRepresentation.cpp:70
virtual ~Fem2DRepresentation()
Destructor.
Definition: Fem2DRepresentation.cpp:66
A Location defines a local position w.r.t.
Definition: Location.h:39
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
std::shared_ptr< Localization > createElementLocalization(const SurgSim::DataStructures::IndexedLocalCoordinate &location)
Helper method: create a localization for an element-based IndexedLocalCoordinate (triangle)
Definition: Fem2DRepresentation.cpp:226
Finite Element Model 2D is a fem built with 2D FemElement.
Definition: Fem2DRepresentation.h:52
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
std::shared_ptr< Fem2D > m_fem
The Fem2DRepresentation's asset as a Fem2D.
Definition: Fem2DRepresentation.h:100
bool doInitialize() override
Interface to be implemented by derived classes.
Definition: Fem2DRepresentation.cpp:263
SURGSIM_CLASSNAME(SurgSim::Physics::Fem2DRepresentation)
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65