SurgSim::Particles::ParticlesCollisionRepresentation Class Reference

A Collision Representation that can be attached to a Particle Representation. More...

`#include <SurgSim/Particles/ParticlesCollisionRepresentation.h>`

Inheritance diagram for SurgSim::Particles::ParticlesCollisionRepresentation:

## Public Member Functions

| ParticlesCollisionRepresentation (const std::string &name)
| Constructor. More...
virtual | ~ParticlesCollisionRepresentation ()
| Destructor. More...
| SURGSIM_CLASSNAME (SurgSim::Particles::ParticlesCollisionRepresentation)
const std::shared_ptr< SurgSim::Math::Shape > | getShape () const override
| Get the shape. More...
int | getShapeType () const override
| Get the shape type id. More...
void | updateShapeData () override
| Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined. More...
void | setParticleRepresentation (std::shared_ptr< SurgSim::Particles::Representation > representation)
| Sets the particle representation this collision representation is connected. More...
const std::shared_ptr< SurgSim::Particles::Representation > | getParticleRepresentation () const
| Gets the particle representation this collision representation is connected. More...
void | setParticleRadius (double radius)
| Set the particles' radius. More...
double | getParticleRadius () const
| Get the radius of the particles. More...
Public Member Functions inherited from SurgSim::Collision::Representation
| Representation (const std::string &name)
| Constructor. More...
virtual | ~Representation ()
| Destructor. More...
void | setCollisionDetectionType (CollisionDetectionType type)
| Set the type of collision detection to use between this representation and other representations. More...
CollisionDetectionType | getCollisionDetectionType () const
| Get the type of collision detection used between this representation and other representations. More...
void | setSelfCollisionDetectionType (CollisionDetectionType type)
| Set the type of collision detection to use between this representation and itself. More...
CollisionDetectionType | getSelfCollisionDetectionType () const
| Get the type of collision detection used between this representation and itself. More...
virtual std::shared_ptr< SurgSim::Math::Shape > | getPosedShape ()
| Get the shape, posed. More...
const Math::PosedShapeMotion< std::shared_ptr< Math::Shape > > & | getPosedShapeMotion () const
SurgSim::DataStructures::BufferedValue< ContactMapType > & | getCollisions ()
| A map between collision representations and contacts. More...
void | addContact (const std::shared_ptr< Representation > &other, const std::shared_ptr< SurgSim::Collision::Contact > &contact)
| Add a contact with another representation. More...
bool | collidedWith (const std::shared_ptr< Representation > &other)
| Check whether this collision representation collided with another during the last update. More...
virtual void | update (const double &dt)
| Update the representation. More...
virtual void | updateDcdData ()
| Update the data (the shape) in preparation for a DCD contact calculation. More...
virtual void | updateCcdData (double timeOfImpact)
| Update the data (the motionShape) in preparation for a CCD contact calcul ation. More...
bool | ignore (const std::string &fullName)
| Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow() More...
bool | ignore (const std::shared_ptr< Representation > &representation)
| Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow() More...
void | setIgnoring (const std::vector< std::string > &fullNames)
| Set the collision representations to ignore Collisions with these collision representation will not be detected. More...
bool | isIgnoring (const std::string &fullName) const
| Is the collision representation being ignored. More...
bool | isIgnoring (const std::shared_ptr< Representation > &representation) const
| Is the collision representation being ignored. More...
bool | allow (const std::string &fullName)
| Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again. More...
bool | allow (const std::shared_ptr< Representation > &representation)
| Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again. More...
void | setAllowing (const std::vector< std::string > &fullNames)
| Set the only collision representations to allow collisions with Only Collisions with these collision representation will be detected. More...
bool | isAllowing (const std::string &fullName) const
| Is the collision representation being allowed. More...
bool | isAllowing (const std::shared_ptr< Representation > &representation) const
| Is the collision representation being allowed. More...
Math::Aabbd | getBoundingBox () const
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...
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 | doInitialize () override
| Interface to be implemented by derived classes. More...
bool | doWakeUp () override
| Interface to be implemented by derived classes. More...

## Private Attributes

std::shared_ptr< SurgSim::Math::ParticlesShape > | m_shape
| Shape used for collision detection. More...
std::weak_ptr< SurgSim::Particles::Representation > | m_particleRepresentation
| Reference to the particle representation driving changes to this collision representation. 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::Collision::Representation
void | invalidatePosedShapeMotion ()
| Invalidate the cached posed shape motion. More...
std::vector< std::string > | getIgnoring () const
| Get the ignored collision representations. More...
std::vector< std::string > | getAllowing () const
| Get the only collision representations that this representation is allowed to collide with. More...
void | doRetire () override
| Interface to be implemented by derived classes Has a default implementation, does nothing. More...
void | setPosedShapeMotion (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &posedShape)
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::Collision::Representation
std::shared_ptr< Framework::Logger > | m_logger

## Detailed Description

A Collision Representation that can be attached to a Particle Representation.

## Constructor & Destructor Documentation

## ParticlesCollisionRepresentation()

SurgSim::Particles::ParticlesCollisionRepresentation::ParticlesCollisionRepresentation | ( | const std::string & | name | ) |

explicit

Constructor.

Parameters

  name | Name of the Representation

## ~ParticlesCollisionRepresentation()

SurgSim::Particles::ParticlesCollisionRepresentation::~ParticlesCollisionRepresentation | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## doInitialize()

bool SurgSim::Particles::ParticlesCollisionRepresentation::doInitialize | ( |  | ) |

override private virtual

Interface to be implemented by derived classes.

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

Reimplemented from SurgSim::Framework::Representation.

## doWakeUp()

bool SurgSim::Particles::ParticlesCollisionRepresentation::doWakeUp | ( |  | ) |

override private virtual

Interface to be implemented by derived classes.

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

Reimplemented from SurgSim::Framework::Representation.

## getParticleRadius()

double SurgSim::Particles::ParticlesCollisionRepresentation::getParticleRadius | ( |  | ) | const

Get the radius of the particles.

Returns
  The particles' radius

## getParticleRepresentation()

const std::shared_ptr< SurgSim::Particles::Representation > SurgSim::Particles::ParticlesCollisionRepresentation::getParticleRepresentation | ( |  | ) | const

Gets the particle representation this collision representation is connected.

Returns
  The particle representation

## getShape()

const std::shared_ptr< SurgSim::Math::Shape > SurgSim::Particles::ParticlesCollisionRepresentation::getShape | ( |  | ) | const

override virtual

Get the shape.

Returns
  The actual shape used for collision.

Implements SurgSim::Collision::Representation.

## getShapeType()

int SurgSim::Particles::ParticlesCollisionRepresentation::getShapeType | ( |  | ) | const

override virtual

Get the shape type id.

Returns
  The unique type of the shape, used to determine which calculation to use.

Implements SurgSim::Collision::Representation.

## setParticleRadius()

void SurgSim::Particles::ParticlesCollisionRepresentation::setParticleRadius | ( | double | radius | ) |

Set the particles' radius.

Parameters

  radius | the radius being set to all particles

## setParticleRepresentation()

void SurgSim::Particles::ParticlesCollisionRepresentation::setParticleRepresentation | ( | std::shared_ptr< SurgSim::Particles::Representation > | representation | ) |

Sets the particle representation this collision representation is connected.

Parameters

  representation | The paticle representation

## SURGSIM_CLASSNAME()

SurgSim::Particles::ParticlesCollisionRepresentation::SURGSIM_CLASSNAME | ( | SurgSim::Particles::ParticlesCollisionRepresentation |  | ) |

## updateShapeData()

void SurgSim::Particles::ParticlesCollisionRepresentation::updateShapeData | ( |  | ) |

override virtual

Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined.

Reimplemented from SurgSim::Collision::Representation.

## Member Data Documentation

## m_particleRepresentation

std::weak_ptr<SurgSim::Particles::Representation> SurgSim::Particles::ParticlesCollisionRepresentation::m_particleRepresentation

private

Reference to the particle representation driving changes to this collision representation.

## m_shape

std::shared_ptr<SurgSim::Math::ParticlesShape> SurgSim::Particles::ParticlesCollisionRepresentation::m_shape

private

Shape used for collision detection.

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

- SurgSim/Particles/ParticlesCollisionRepresentation.h
- SurgSim/Particles/ParticlesCollisionRepresentation.cpp