SurgSim::Blocks::PoseInterpolator Class Reference

Perform linear interpolation on two poses. More...

`#include <SurgSim/Blocks/PoseInterpolator.h>`

Inheritance diagram for SurgSim::Blocks::PoseInterpolator:

## Public Member Functions

| PoseInterpolator (const std::string &name)
| Constructor. More...
void | setStartingPose (const SurgSim::Math::RigidTransform3d &transform)
| Set the starting pose. More...
void | setEndingPose (const SurgSim::Math::RigidTransform3d &transform)
| Set the end pose. More...
void | setTarget (std::shared_ptr< SurgSim::Framework::SceneElement > target)
| Set the target of the interpolation, this is where the interpolated transform will be applied to. More...
void | setDuration (double t)
| Set the duration of the interpolation. More...
double | getDuration () const
| Get the duration. More...
void | setLoop (bool val)
| Sets the interpolation to looping, pingpong and loop cannot be used together. More...
bool | isLoop () const
void | setPingPong (bool val)
| Sets the interpolation to ping pong back and forth between the starting and ending poses. More...
bool | isPingPong () const
void | update (double dt) override
| Update the behavior. More...
Public Member Functions inherited from SurgSim::Framework::Behavior
| Behavior (const std::string &name)
virtual | ~Behavior ()
virtual int | getTargetManagerType () const
| Specifies which manger will handle this behavior. 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...
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

## Private Member Functions

bool | doWakeUp () override
| Interface to be implemented by derived classes. More...
bool | doInitialize () override
| Interface to be implemented by derived classes. More...
void | doRetire () override
| Interface to be implemented by derived classes Has a default implementation, does nothing. More...

## Private Attributes

SurgSim::DataStructures::OptionalValue< SurgSim::Math::RigidTransform3d > | m_optionalStartPose
| Optional value to take the from rigid transform. More...
SurgSim::Math::RigidTransform3d | m_startingPose
| Target of the interpolation. More...
SurgSim::Math::RigidTransform3d | m_endingPose
| Start of the interpolation. More...
std::shared_ptr< SurgSim::Framework::SceneElement > | m_target
| Target for the interpolated RigidTransform. More...
double | m_duration
| Duration of the interpolation. More...
double | m_currentTime
| How far through the interpolation we are. More...
bool | m_pingpong
| Whether to pingpong. More...
bool | m_loop
| Whether to loop. More...

## 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::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...

## Detailed Description

Perform linear interpolation on two poses.

## Constructor & Destructor Documentation

## PoseInterpolator()

SurgSim::Blocks::PoseInterpolator::PoseInterpolator | ( | const std::string & | name | ) |

explicit

Constructor.

## Member Function Documentation

## doInitialize()

bool SurgSim::Blocks::PoseInterpolator::doInitialize | ( |  | ) |

override private virtual

Interface to be implemented by derived classes.

Returns
  True if component is initialized successfully; otherwise, false.

Implements SurgSim::Framework::Component.

## doRetire()

void SurgSim::Blocks::PoseInterpolator::doRetire | ( |  | ) |

override private virtual

Interface to be implemented by derived classes Has a default implementation, does nothing.

Reimplemented from SurgSim::Framework::Component.

## doWakeUp()

bool SurgSim::Blocks::PoseInterpolator::doWakeUp | ( |  | ) |

override private virtual

Interface to be implemented by derived classes.

Returns
  True if component is woken up successfully; otherwise, false.

Implements SurgSim::Framework::Component.

## getDuration()

double SurgSim::Blocks::PoseInterpolator::getDuration | ( |  | ) | const

Get the duration.

Returns
  The duration in seconds.

## isLoop()

bool SurgSim::Blocks::PoseInterpolator::isLoop | ( |  | ) | const

Returns
  true If the interpolation is looping.

## isPingPong()

bool SurgSim::Blocks::PoseInterpolator::isPingPong | ( |  | ) | const

Returns
  true If the interpolation is doing ping pong.

## setDuration()

void SurgSim::Blocks::PoseInterpolator::setDuration | ( | double | t | ) |

Set the duration of the interpolation.

Parameters

  t | The duration in seconds.

## setEndingPose()

void SurgSim::Blocks::PoseInterpolator::setEndingPose | ( | const SurgSim::Math::RigidTransform3d & | transform | ) |

Set the end pose.

Parameters

  transform | The end pose.

## setLoop()

void SurgSim::Blocks::PoseInterpolator::setLoop | ( | bool | val | ) |

Sets the interpolation to looping, pingpong and loop cannot be used together.

Parameters

  val | If true the interpolation will loop.

## setPingPong()

void SurgSim::Blocks::PoseInterpolator::setPingPong | ( | bool | val | ) |

Sets the interpolation to ping pong back and forth between the starting and ending poses.

pingpong and loop cannot be used together.

Parameters

  val | If true the interpolation will ping pong.

## setStartingPose()

void SurgSim::Blocks::PoseInterpolator::setStartingPose | ( | const SurgSim::Math::RigidTransform3d & | transform | ) |

Set the starting pose.

This is optional, if not set the target's pose will be used as the starting pose.

Parameters

  transform | The starting pose.

## setTarget()

void SurgSim::Blocks::PoseInterpolator::setTarget | ( | std::shared_ptr< SurgSim::Framework::SceneElement > | target | ) |

Set the target of the interpolation, this is where the interpolated transform will be applied to.

If this value is not set, the Scene Element that contains this PoseInterpolator will be used. If no starting pose is set, the pose of this scene element will be used as the starting pose

Parameters

  target | The target that will use the interpolated pose.

## update()

void SurgSim::Blocks::PoseInterpolator::update | ( | double | dt | ) |

override virtual

Update the behavior.

Parameters

  dt | The length of time (seconds) between update calls.

Implements SurgSim::Framework::Behavior.

## Member Data Documentation

## m_currentTime

double SurgSim::Blocks::PoseInterpolator::m_currentTime

private

How far through the interpolation we are.

## m_duration

double SurgSim::Blocks::PoseInterpolator::m_duration

private

Duration of the interpolation.

## m_endingPose

SurgSim::Math::RigidTransform3d SurgSim::Blocks::PoseInterpolator::m_endingPose

private

Start of the interpolation.

## m_loop

bool SurgSim::Blocks::PoseInterpolator::m_loop

private

Whether to loop.

## m_optionalStartPose

SurgSim::DataStructures::OptionalValue<SurgSim::Math::RigidTransform3d> SurgSim::Blocks::PoseInterpolator::m_optionalStartPose

private

Optional value to take the from rigid transform.

## m_pingpong

bool SurgSim::Blocks::PoseInterpolator::m_pingpong

private

Whether to pingpong.

## m_startingPose

SurgSim::Math::RigidTransform3d SurgSim::Blocks::PoseInterpolator::m_startingPose

private

Target of the interpolation.

## m_target

std::shared_ptr<SurgSim::Framework::SceneElement> SurgSim::Blocks::PoseInterpolator::m_target

private

Target for the interpolated RigidTransform.

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

- SurgSim/Blocks/PoseInterpolator.h
- SurgSim/Blocks/PoseInterpolator.cpp