SurgSim::Blocks::CompoundShapeToGraphics Class Reference

Keep a set of Graphics representations in sync with a CompoundShape, the shape can either be set directly or pulled from a Physics or Collision Representation. More...

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

Inheritance diagram for SurgSim::Blocks::CompoundShapeToGraphics:

## Public Member Functions

| CompoundShapeToGraphics (const std::string &name)
| Constructor. More...
| SURGSIM_CLASSNAME (SurgSim::Blocks::CompoundShapeToGraphics)
| ~CompoundShapeToGraphics ()
| Destructor. More...
void | update (double dt) override
| Update the behavior. More...
int | getTargetManagerType () const override
| Specifies which manger will handle this behavior. More...
bool | doInitialize () override
| Interface to be implemented by derived classes. More...
bool | doWakeUp () override
| Interface to be implemented by derived classes. More...
void | setShape (const std::shared_ptr< Math::Shape > &shape)
| Sets the shape to be used for synchronization. More...
void | setSource (const std::shared_ptr< Framework::Component > &component)
| Sets the source component, the components needs to provide a shape and that shape needs to be a compound shape. More...
void | setTargets (const std::vector< std::shared_ptr< Framework::Component >> components)
| Sets the graphics targets to be used, each target will be update with the pose of the corresponding sub shape in the compound shape. More...
void | addTarget (const std::shared_ptr< Framework::Component > &component)
| Adds a single target to the list of targets, the target needs to be a graphics representation. More...
std::vector< std::shared_ptr< Framework::Component > > | getTargets () const
std::shared_ptr< Math::CompoundShape > | getShape () const
std::shared_ptr< Framework::Component > | getSource () const
Public Member Functions inherited from SurgSim::Framework::Behavior
| Behavior (const std::string &name)
virtual | ~Behavior ()
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

## Private Attributes

std::shared_ptr< Math::CompoundShape > | m_shape
| Source shape used for updating. More...
std::shared_ptr< Framework::Component > | m_source
| Source representation if known. More...
std::vector< std::shared_ptr< Graphics::Representation > > | m_representations
| List of graphics targets for updating. 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

Keep a set of Graphics representations in sync with a CompoundShape, the shape can either be set directly or pulled from a Physics or Collision Representation.

The graphics pieces will be set to coincide with the appropriate pieces of the compound shape in order.

## Constructor & Destructor Documentation

## CompoundShapeToGraphics()

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

explicit

Constructor.

## ~CompoundShapeToGraphics()

SurgSim::Blocks::CompoundShapeToGraphics::~CompoundShapeToGraphics | ( |  | ) |

Destructor.

## Member Function Documentation

## addTarget()

void SurgSim::Blocks::CompoundShapeToGraphics::addTarget | ( | const std::shared_ptr< Framework::Component > & | component | ) |

Adds a single target to the list of targets, the target needs to be a graphics representation.

Parameters

  component | Graphics Representation to be added at the end of the list

Exceptions

  SurgSim::AssertionFailure | if the component is not a graphics representation

## doInitialize()

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

override virtual

Interface to be implemented by derived classes.

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

Implements SurgSim::Framework::Component.

## doWakeUp()

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

override virtual

Interface to be implemented by derived classes.

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

Implements SurgSim::Framework::Component.

## getShape()

std::shared_ptr< Math::CompoundShape > SurgSim::Blocks::CompoundShapeToGraphics::getShape | ( |  | ) | const

Returns
  the shape that is being used, if set, nullptr otherwise

## getSource()

std::shared_ptr< Framework::Component > SurgSim::Blocks::CompoundShapeToGraphics::getSource | ( |  | ) | const

Returns
  the component that is the source, if set, nullptr otherwise

## getTargetManagerType()

int SurgSim::Blocks::CompoundShapeToGraphics::getTargetManagerType | ( |  | ) | const

override virtual

Specifies which manger will handle this behavior.

Reimplemented from SurgSim::Framework::Behavior.

## getTargets()

std::vector< std::shared_ptr< Framework::Component > > SurgSim::Blocks::CompoundShapeToGraphics::getTargets | ( |  | ) | const

Returns
  the registered graphics targets

## setShape()

void SurgSim::Blocks::CompoundShapeToGraphics::setShape | ( | const std::shared_ptr< Math::Shape > & | shape | ) |

Sets the shape to be used for synchronization.

Parameters

  shape | The shape to be used

## setSource()

void SurgSim::Blocks::CompoundShapeToGraphics::setSource | ( | const std::shared_ptr< Framework::Component > & | component | ) |

Sets the source component, the components needs to provide a shape and that shape needs to be a compound shape.

Parameters

  component | The component to be used as a shape source

Exceptions

  SurgSim::AssertionFailure | if the component does not meet the requirements

## setTargets()

void SurgSim::Blocks::CompoundShapeToGraphics::setTargets | ( | const std::vector< std::shared_ptr< Framework::Component >> | components | ) |

Sets the graphics targets to be used, each target will be update with the pose of the corresponding sub shape in the compound shape.

The components need to be graphics representations

Parameters

  components | The list of graphics representations to be used as targets

Exceptions

  SurgSim::AssertionFailure | if one of the components is not a graphics representation

## SURGSIM_CLASSNAME()

SurgSim::Blocks::CompoundShapeToGraphics::SURGSIM_CLASSNAME | ( | SurgSim::Blocks::CompoundShapeToGraphics |  | ) |

## update()

void SurgSim::Blocks::CompoundShapeToGraphics::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_representations

std::vector<std::shared_ptr<Graphics::Representation> > SurgSim::Blocks::CompoundShapeToGraphics::m_representations

private

List of graphics targets for updating.

## m_shape

std::shared_ptr<Math::CompoundShape> SurgSim::Blocks::CompoundShapeToGraphics::m_shape

private

Source shape used for updating.

## m_source

std::shared_ptr<Framework::Component> SurgSim::Blocks::CompoundShapeToGraphics::m_source

private

Source representation if known.

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

- SurgSim/Blocks/CompoundShapeToGraphics.h
- SurgSim/Blocks/CompoundShapeToGraphics.cpp