SurgSim::Physics::FixedRepresentation Class Reference

The FixedRepresentation class represents a physics entity without any motion nor compliance against which others physics entities can interact. More...

`#include <SurgSim/Physics/FixedRepresentation.h>`

Inheritance diagram for SurgSim::Physics::FixedRepresentation:

## Public Member Functions

| FixedRepresentation (const std::string &name)
| Constructor. More...
virtual | ~FixedRepresentation ()
| Destructor. More...
| SURGSIM_CLASSNAME (SurgSim::Physics::FixedRepresentation)
void | updateGlobalInertiaMatrices (const RigidState &state) override
void | update (double dt) override
| Update the representation state to the current time step. More...
Public Member Functions inherited from SurgSim::Physics::RigidRepresentationBase
| RigidRepresentationBase (const std::string &name)
| Constructor. More...
virtual | ~RigidRepresentationBase ()
| Destructor. More...
void | setInitialState (const RigidState &state)
| Set the initial state of the rigid representation. More...
void | resetState () override
| Reset the representation to its initial/default state. More...
const RigidState & | getInitialState () const
| Get the initial state of the rigid representation. More...
const RigidState & | getCurrentState () const
| Get the current state of the rigid representation. More...
const RigidState & | getPreviousState () const
| Get the previous state of the rigid representation. More...
std::shared_ptr< Localization > | createLocalization (const SurgSim::DataStructures::Location &location) override
| Computes a localized coordinate w.r.t this representation, given a Location object. More...
void | setDensity (double rho)
| Set the mass density of the rigid representation. More...
double | getDensity () const
| Get the mass density of the rigid representation. More...
double | getMass () const
| Get the mass of the rigid body. More...
const SurgSim::Math::Vector3d & | getMassCenter () const
| Get the mass center of the rigid body. More...
const SurgSim::Math::Matrix33d & | getLocalInertia () const
| Get the local inertia 3x3 matrix of the rigid body. More...
void | setLinearDamping (double linearDamping)
| Set the linear damping parameter. More...
double | getLinearDamping () const
| Get the linear damping parameter. More...
void | setAngularDamping (double angularDamping)
| Set the angular damping parameter. More...
double | getAngularDamping () const
| Get the angular damping parameter. More...
void | setShape (const std::shared_ptr< SurgSim::Math::Shape > shape)
| Set the shape to use internally for physical parameters computation. More...
const std::shared_ptr< SurgSim::Math::Shape > | getShape () const
| Get the shape used internally for physical parameters computation. More...
void | setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation) override
| Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation. More...
void | beforeUpdate (double dt) override
| Preprocessing done before the update call This needs to be called from the outside usually from a Computation. More...
void | afterUpdate (double dt) override
| Postprocessing done after the update call This needs to be called from the outside usually from a Computation. More...
Public Member Functions inherited from SurgSim::Physics::Representation
| Representation (const std::string &name)
| Constructor. More...
virtual | ~Representation ()
| Destructor. More...
size_t | getNumDof () const
| Query the object number of degrees of freedom. More...
void | setIsGravityEnabled (bool isGravityEnabled)
| Set the gravity enable flag. More...
bool | isGravityEnabled () const
| Get the gravity enable flag. More...
void | setIsDrivingSceneElementPose (bool isDrivingSceneElementPose)
| Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...
bool | isDrivingSceneElementPose ()
| Query if this Representation is controlling the pose of the SceneElement that it is part of. More...
virtual void | applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity)
| Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...
std::shared_ptr< SurgSim::Collision::Representation > | getCollisionRepresentation () const
std::shared_ptr< ConstraintImplementation > | getConstraintImplementation (SurgSim::Physics::ConstraintType type)
| Get a constraint implementation of the given type for this representation. More...
Public Member Functions inherited from SurgSim::Framework::Representation
| Representation (const std::string &name)
| Constructor. More...
virtual void | setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
| Set the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d | getLocalPose () const
| Get the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d | getPose () const
| Get the pose of the representation in world coordinates. More...
Public Member Functions inherited from SurgSim::Framework::Component
| Component (const std::string &name)
| Constructor. More...
virtual | ~Component ()
| Destructor. More...
std::string | getName () const
| Gets component name. More...
std::string | getFullName () const
| Gets a string containing the name of the Component and (if it has one) its SceneElement. More...
void | setName (const std::string &name)
| Sets the name of component. More...
boost::uuids::uuid | getUuid () const
| Gets the id of the component. More...
bool | isInitialized () const
bool | initialize (const std::weak_ptr< Runtime > &runtime)
| Initialize this component, this needs to be called before wakeUp() can be called. More...
bool | isAwake () const
bool | wakeUp ()
| Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
void | retire ()
| Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...
void | setScene (std::weak_ptr< Scene > scene)
| Sets the scene. More...
std::shared_ptr< Scene > | getScene ()
| Gets the scene. More...
void | setSceneElement (std::weak_ptr< SceneElement > sceneElement)
| Sets the scene element. More...
std::shared_ptr< SceneElement > | getSceneElement ()
| Gets the scene element. More...
std::shared_ptr< const SceneElement > | getSceneElement () const
| Gets the scene element, constant version. More...
std::shared_ptr< Runtime > | getRuntime () const
| Get the runtime which contains this component. More...
virtual std::string | getClassName () const
| The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
std::shared_ptr< Component > | getSharedPtr ()
| Gets a shared pointer to this component. More...
virtual void | doRetire ()
| Interface to be implemented by derived classes Has a default implementation, does nothing. More...
bool | isActive () const
virtual void | setLocalActive (bool val)
| Set the component's active state. More...
bool | isLocalActive () const
Public Member Functions inherited from SurgSim::Framework::Accessible
| Accessible ()
| Default Constructor. More...
| ~Accessible ()
| Destructor. More...
template<class T >
T | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
boost::any | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found. More...
template<class T >
bool | getValue (const std::string &name, T *value) const
| Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
void | setValue (const std::string &name, const boost::any &value)
| Sets a value of a property that has setter. More...
bool | isReadable (const std::string &name) const
| Check whether a property is readable. More...
bool | isWriteable (const std::string &name) const
| Check whether a property is writable. More...
void | setGetter (const std::string &name, GetterType func)
| Sets a getter for a given property. More...
void | setSetter (const std::string &name, SetterType func)
| Sets a setter for a given property. More...
void | setAccessors (const std::string &name, GetterType getter, SetterType setter)
| Sets the accessors getter and setter in one function. More...
void | removeAccessors (const std::string &name)
| Removes all the accessors (getter and setter) for a given property. More...
void | forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
| Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
void | setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
| Sets the functions used to convert data from and to a YAML::Node. More...
void | setDecoder (const std::string &name, DecoderType decoder)
| Sets the functions used to convert data from a YAML::Node. More...
YAML::Node | encode () const
| Encode this Accessible to a YAML::Node. More...
void | decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
| Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
template<>
boost::any | getValue (const std::string &name) const

## Additional Inherited Members

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> | GetterType
typedef std::function< void(boost::any)> | SetterType
typedef std::function< YAML::Node(void)> | EncoderType
typedef std::function< void(const YAML::Node *)> | DecoderType
Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType & | getFactory ()
Protected Member Functions inherited from SurgSim::Physics::RigidRepresentationBase
bool | doInitialize () override
| Interface to be implemented by derived classes. More...
bool | doWakeUp () override
| Interface to be implemented by derived classes. More...
template<class T >
std::shared_ptr< T > | createTypedLocalization (const SurgSim::DataStructures::Location &location)
| Creates typed localization. More...
Protected Member Functions inherited from SurgSim::Physics::Representation
void | setNumDof (size_t numDof)
| Set the number of degrees of freedom. More...
const SurgSim::Math::Vector3d & | getGravity () const
| Get the gravity used by this Representation. More...
void | driveSceneElementPose (const SurgSim::Math::RigidTransform3d &pose)
| This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true. More...
Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent > | getPoseComponent ()
| Get the PoseComponent for this component. More...
virtual std::shared_ptr< const PoseComponent > | getPoseComponent () const
| Get the PoseComponent for this component, constant access. More...
Protected Attributes inherited from SurgSim::Physics::RigidRepresentationBase
RigidState | m_initialState
| Initial rigid representation state (useful for reset) More...
RigidState | m_previousState
| Previous rigid representation state. More...
RigidState | m_currentState
| Current rigid representation state. More...
RigidState | m_finalState
| Last valid/final rigid representation state. More...
bool | m_parametersValid
| Validity of the parameters. More...
double | m_rho
| Density of the object (in Kg.m-3) More...
double | m_mass
| Total mass of the object (in Kg) More...
double | m_linearDamping
| Linear damping parameter (in N.s.m-1 or Kg.s-1) More...
double | m_angularDamping
| Angular damping parameter (in N.m.s.rad-1) More...
SurgSim::Math::Vector3d | m_massCenter
| Mass-center of the object. More...
SurgSim::Math::Matrix33d | m_localInertia
| Inertia matrix in local coordinates. More...
std::shared_ptr< SurgSim::Math::Shape > | m_shape
| Shape to be used for the mass/inertia calculation. More...
Protected Attributes inherited from SurgSim::Physics::Representation
std::shared_ptr< SurgSim::Collision::Representation > | m_collisionRepresentation
| This entity's collision representation, these are usually very specific to the physics representation. More...

## Detailed Description

The FixedRepresentation class represents a physics entity without any motion nor compliance against which others physics entities can interact.

## Constructor & Destructor Documentation

## FixedRepresentation()

SurgSim::Physics::FixedRepresentation::FixedRepresentation | ( | const std::string & | name | ) |

explicit

Constructor.

Parameters

  name | The fixed representation's name

## ~FixedRepresentation()

SurgSim::Physics::FixedRepresentation::~FixedRepresentation | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## SURGSIM_CLASSNAME()

SurgSim::Physics::FixedRepresentation::SURGSIM_CLASSNAME | ( | SurgSim::Physics::FixedRepresentation |  | ) |

## update()

void SurgSim::Physics::FixedRepresentation::update | ( | double | dt | ) |

override virtual

Update the representation state to the current time step.

Parameters

  dt | The time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

## updateGlobalInertiaMatrices()

void SurgSim::Physics::FixedRepresentation::updateGlobalInertiaMatrices | ( | const RigidState & | state | ) |

override virtual

Implements SurgSim::Physics::RigidRepresentationBase.

The documentation for this class was generated from the following files:

- SurgSim/Physics/FixedRepresentation.h
- SurgSim/Physics/FixedRepresentation.cpp