SurgSim::Physics::Fem2DLocalization Class Reference

Implementation of Localization for Fem2DRepresentation. More...

`#include <SurgSim/Physics/Fem2DLocalization.h>`

Inheritance diagram for SurgSim::Physics::Fem2DLocalization:

## Public Member Functions

| Fem2DLocalization (std::shared_ptr< Representation > representation, const SurgSim::DataStructures::IndexedLocalCoordinate &localCoordinate)
| Constructor. More...
virtual | ~Fem2DLocalization ()
| Destructor. More...
bool | isValidRepresentation (std::shared_ptr< Representation > representation) override
| Query if 'representation' is valid representation. More...
Math::RigidTransform3d | getElementPose () override
| Find a pose that the localization is represented with respect to. More...
Public Member Functions inherited from SurgSim::Physics::FemLocalization
| FemLocalization (std::shared_ptr< Representation > representation, const SurgSim::DataStructures::IndexedLocalCoordinate &localPosition)
| Constructor. More...
virtual | ~FemLocalization ()
| Destructor. More...
void | setLocalPosition (const SurgSim::DataStructures::IndexedLocalCoordinate &localPosition)
| Sets the local position. More...
const SurgSim::DataStructures::IndexedLocalCoordinate & | getLocalPosition () const
| Gets the local position. More...
Public Member Functions inherited from SurgSim::Physics::Localization
| Localization ()
| Default constructor. More...
| Localization (std::shared_ptr< Representation > representation)
| Constructor. More...
virtual | ~Localization ()
| Destructor. More...
void | setRepresentation (std::shared_ptr< Representation > representation)
| Sets the representation. More...
std::shared_ptr< Representation > | getRepresentation () const
| Gets the representation. More...
SurgSim::Math::Vector3d | calculatePosition (double time=1.0) const
| Calculates the global position of this localization. More...
SurgSim::Math::Vector3d | calculateVelocity (double time=1.0) const
| Calculates the global velocity of this localization. More...
virtual bool | moveClosestTo (const Math::Vector3d &point, bool *hasReachedEnd)

## Detailed Description

Implementation of Localization for Fem2DRepresentation.

Fem2DLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an Fem2DRepresentation. The IndexedLocalCoordinate must be related to an FemElement (the index is an FemElement id and the local coordinates are the barycentric coordinates of the nodes in this FemElement).

## Constructor & Destructor Documentation

## Fem2DLocalization()

SurgSim::Physics::Fem2DLocalization::Fem2DLocalization | ( | std::shared_ptr< Representation > | representation,
|  | const SurgSim::DataStructures::IndexedLocalCoordinate & | localCoordinate
| ) |  |

Constructor.

Parameters

  representation | The representation to assign to this localization.
  localCoordinate | The indexed local coordinate relative to the representation.

## ~Fem2DLocalization()

SurgSim::Physics::Fem2DLocalization::~Fem2DLocalization | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## getElementPose()

Math::RigidTransform3d SurgSim::Physics::Fem2DLocalization::getElementPose | ( |  | ) |

override virtual

Find a pose that the localization is represented with respect to.

In the case of a rigid representation, the pose of the representation is the pose returned. In case of a fem representation, the pose is calculated from the fem element which this localization is a part of.

Returns
  The pose that the localization is represented with respect to.

Reimplemented from SurgSim::Physics::Localization.

## isValidRepresentation()

bool SurgSim::Physics::Fem2DLocalization::isValidRepresentation | ( | std::shared_ptr< Representation > | representation | ) |

override virtual

Query if 'representation' is valid representation.

Parameters

  representation | The representation.

Returns
  true if valid representation, false if not.

Reimplemented from SurgSim::Physics::Localization.

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

- SurgSim/Physics/Fem2DLocalization.h
- SurgSim/Physics/Fem2DLocalization.cpp