RigidRepresentationBase-inl.h
Go to the documentation of this file.
// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_INL_H
#define SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_INL_H
namespace SurgSim
{
namespace Physics
{
template <class T>
std::shared_ptr<T> RigidRepresentationBase::createTypedLocalization(
const SurgSim::DataStructures::Location& location)
{
// Change when we deal with the meshes as shapes
std::shared_ptr<T> result = std::make_shared<T>(
std::static_pointer_cast<Representation>(getSharedPtr()));
SURGSIM_ASSERT(location.rigidLocalPosition.hasValue()) <<
"Tried to create a rigid localization without valid position information";
result->setLocalPosition(location.rigidLocalPosition.getValue());
return std::move(result);
}
}; // Physics
}; // SurgSim
#endif // SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_INL_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::Representation
The Representation class defines the base class for all physics objects.
Definition: Representation.h:53
SurgSim::DataStructures::Location
A Location defines a local position w.r.t.
Definition: Location.h:39
SURGSIM_ASSERT
#define SURGSIM_ASSERT(condition)
Assert that condition is true.
Definition: Assert.h:77
SurgSim::Framework::Component::getSharedPtr
std::shared_ptr< Component > getSharedPtr()
Gets a shared pointer to this component.
Definition: Component.cpp:170
SurgSim::Physics::RigidRepresentationBase::createTypedLocalization
std::shared_ptr< T > createTypedLocalization(const SurgSim::DataStructures::Location &location)
Creates typed localization.
Definition: RigidRepresentationBase-inl.h:26
SurgSim::DataStructures::OptionalValue::hasValue
bool hasValue() const
Query if this object has been assigned a value.
Definition: OptionalValue.h:56
SurgSim::DataStructures::OptionalValue::getValue
const T & getValue() const
Gets the value.
Definition: OptionalValue.h:78
SurgSim::DataStructures::Location::rigidLocalPosition
SurgSim::DataStructures::OptionalValue< SurgSim::Math::Vector3d > rigidLocalPosition
Definition: Location.h:156