SurgSim::Physics::Representation Class Reference

The Representation class defines the base class for all physics objects. More...

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

Inheritance diagram for SurgSim::Physics::Representation:

## Public Member Functions

| Representation (const std::string &name)
| Constructor. More...
virtual | ~Representation ()
| Destructor. More...
virtual void | resetState ()
| Reset the representation to its initial/default state. More...
size_t | getNumDof () const
| Query the object number of degrees of freedom. More...
void | setIsGravityEnabled (bool isGravityEnabled)
| Set the gravity enable flag. More...
bool | isGravityEnabled () const
| Get the gravity enable flag. More...
void | setIsDrivingSceneElementPose (bool isDrivingSceneElementPose)
| Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...
bool | isDrivingSceneElementPose ()
| Query if this Representation is controlling the pose of the SceneElement that it is part of. More...
virtual void | beforeUpdate (double dt)
| Preprocessing done before the update call This needs to be called from the outside usually from a Computation. More...
virtual void | update (double dt)
| Update the representation state to the current time step. More...
virtual void | afterUpdate (double dt)
| Postprocessing done after the update call This needs to be called from the outside usually from a Computation. More...
virtual std::shared_ptr< Localization > | createLocalization (const SurgSim::DataStructures::Location &location)
| Computes a localized coordinate w.r.t this representation, given a Location object. More...
virtual void | applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity)
| Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...
std::shared_ptr< SurgSim::Collision::Representation > | getCollisionRepresentation () const
virtual void | setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation)
| Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation. More...
std::shared_ptr< ConstraintImplementation > | getConstraintImplementation (SurgSim::Physics::ConstraintType type)
| Get a constraint implementation of the given type for this representation. More...
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...
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

## Protected Member Functions

void | setNumDof (size_t numDof)
| Set the number of degrees of freedom. More...
const SurgSim::Math::Vector3d & | getGravity () const
| Get the gravity used by this Representation. More...
void | driveSceneElementPose (const SurgSim::Math::RigidTransform3d &pose)
| This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true. More...
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

std::shared_ptr< SurgSim::Collision::Representation > | m_collisionRepresentation
| This entity's collision representation, these are usually very specific to the physics representation. More...

## Private Member Functions

| Representation (const Representation &)
| NO copy constructor. More...
Representation & | operator= (const Representation &)
| NO assignment operator. More...

## Private Attributes

const SurgSim::Math::Vector3d | m_gravity
| Gravity vector. More...
size_t | m_numDof
| Number of degrees of freedom for this representation. More...
bool | m_isGravityEnabled
| Gravity enabled flag. More...
bool | m_isDrivingSceneElementPose
| Is this representation driving the sceneElement pose. More...
std::shared_ptr< SurgSim::Framework::Logger > | m_logger
| Logger for this class. 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 ()

## Detailed Description

The Representation class defines the base class for all physics objects.

## Constructor & Destructor Documentation

## Representation() [1/2]

SurgSim::Physics::Representation::Representation | ( | const std::string & | name | ) |

explicit

Constructor.

Parameters

  name | The representation's name

## ~Representation()

SurgSim::Physics::Representation::~Representation | ( |  | ) |

virtual

Destructor.

Reimplemented from SurgSim::Framework::Representation.

## Representation() [2/2]

SurgSim::Physics::Representation::Representation | ( | const Representation & |  | ) |

private

NO copy constructor.

## Member Function Documentation

## afterUpdate()

void SurgSim::Physics::Representation::afterUpdate | ( | double | dt | ) |

virtual

Postprocessing done after the update call This needs to be called from the outside usually from a Computation.

Parameters

  dt | The time step (in seconds)

Reimplemented in SurgSim::Physics::DeformableRepresentation, SurgSim::Physics::RigidRepresentationBase, and SurgSim::Physics::RigidRepresentation.

## applyCorrection()

void SurgSim::Physics::Representation::applyCorrection | ( | double | dt,
|  | const Eigen::VectorBlock< SurgSim::Math::Vector > & | deltaVelocity
| ) |  |

virtual

Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity.

This function typically is called in the physics pipeline (PhysicsManager::doUpdate) after solving the equations that enforce constraints when collisions occur. Specifically it is called in the PushResults::doUpdate step.

Parameters

  dt | The time step
  deltaVelocity | The block of a vector containing the correction to be applied to the velocity

Reimplemented in SurgSim::Physics::DeformableRepresentation, and SurgSim::Physics::RigidRepresentation.

## beforeUpdate()

void SurgSim::Physics::Representation::beforeUpdate | ( | double | dt | ) |

virtual

Preprocessing done before the update call This needs to be called from the outside usually from a Computation.

Parameters

  dt | The time step (in seconds)

Reimplemented in SurgSim::Physics::RigidRepresentationBase, SurgSim::Physics::FemRepresentation, SurgSim::Physics::MassSpringRepresentation, and SurgSim::Physics::RigidRepresentation.

## createLocalization()

std::shared_ptr< Localization > SurgSim::Physics::Representation::createLocalization | ( | const SurgSim::DataStructures::Location & | location | ) |

virtual

Computes a localized coordinate w.r.t this representation, given a Location object.

Parameters

  location | A location in 3d space.

Returns
  A localization object for the given location.

Reimplemented in SurgSim::Physics::MassSpringRepresentation, SurgSim::Physics::Fem1DRepresentation, SurgSim::Physics::Fem3DRepresentation, SurgSim::Physics::Fem2DRepresentation, and SurgSim::Physics::RigidRepresentationBase.

## driveSceneElementPose()

void SurgSim::Physics::Representation::driveSceneElementPose | ( | const SurgSim::Math::RigidTransform3d & | pose | ) |

protected

This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true.

Parameters

  pose | New pose for the SceneElement

## getCollisionRepresentation()

std::shared_ptr< SurgSim::Collision::Representation > SurgSim::Physics::Representation::getCollisionRepresentation | ( |  | ) | const

Returns
  the collision representation for this physics representation.

## getConstraintImplementation()

std::shared_ptr< ConstraintImplementation > SurgSim::Physics::Representation::getConstraintImplementation | ( | SurgSim::Physics::ConstraintType | type | ) |

Get a constraint implementation of the given type for this representation.

Parameters

  type | The type of constraint.

Returns
  A contact constraint implementation or nullptr.

## getGravity()

const SurgSim::Math::Vector3d & SurgSim::Physics::Representation::getGravity | ( |  | ) | const

protected

Get the gravity used by this Representation.

Returns
  The gravity vector

## getNumDof()

size_t SurgSim::Physics::Representation::getNumDof | ( |  | ) | const

Query the object number of degrees of freedom.

Returns
  The number of degrees of freedom

## isDrivingSceneElementPose()

bool SurgSim::Physics::Representation::isDrivingSceneElementPose | ( |  | ) |

Query if this Representation is controlling the pose of the SceneElement that it is part of.

Returns
  true if this Representation is controlling the pose of the SceneElement

## isGravityEnabled()

bool SurgSim::Physics::Representation::isGravityEnabled | ( |  | ) | const

Get the gravity enable flag.

Returns
  true if gravity enabled, false if not.

## operator=()

Representation& SurgSim::Physics::Representation::operator= | ( | const Representation & |  | ) |

private

NO assignment operator.

## resetState()

void SurgSim::Physics::Representation::resetState | ( |  | ) |

virtual

Reset the representation to its initial/default state.

Reimplemented in SurgSim::Physics::DeformableRepresentation, and SurgSim::Physics::RigidRepresentationBase.

## setCollisionRepresentation()

void SurgSim::Physics::Representation::setCollisionRepresentation | ( | std::shared_ptr< SurgSim::Collision::Representation > | representation | ) |

virtual

Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation.

Parameters

  representation | The appropriate collision representation for this object.

Reimplemented in SurgSim::Physics::DeformableRepresentation, and SurgSim::Physics::RigidRepresentationBase.

## setIsDrivingSceneElementPose()

void SurgSim::Physics::Representation::setIsDrivingSceneElementPose | ( | bool | isDrivingSceneElementPose | ) |

Set whether this Representation is controlling the pose of the SceneElement that it is part of.

Parameters

  isDrivingSceneElementPose | true if this Representation is driving the pose of the SceneElement

## setIsGravityEnabled()

void SurgSim::Physics::Representation::setIsGravityEnabled | ( | bool | isGravityEnabled | ) |

Set the gravity enable flag.

Parameters

  isGravityEnabled | True if gravity enabled, false if not.

## setNumDof()

void SurgSim::Physics::Representation::setNumDof | ( | size_t | numDof | ) |

protected

Set the number of degrees of freedom.

Parameters

  numDof | The number of degrees of freedom

Note
  protected so that nobody can change the number of DOF
  except daughter classes

## update()

void SurgSim::Physics::Representation::update | ( | double | dt | ) |

virtual

Update the representation state to the current time step.

Parameters

  dt | The time step (in seconds)

Reimplemented in SurgSim::Physics::DeformableRepresentation, SurgSim::Physics::FemRepresentation, SurgSim::Physics::RigidRepresentation, and SurgSim::Physics::FixedRepresentation.

## Member Data Documentation

## m_collisionRepresentation

std::shared_ptr<SurgSim::Collision::Representation> SurgSim::Physics::Representation::m_collisionRepresentation

protected

This entity's collision representation, these are usually very specific to the physics representation.

## m_gravity

const SurgSim::Math::Vector3d SurgSim::Physics::Representation::m_gravity

private

Gravity vector.

## m_isDrivingSceneElementPose

bool SurgSim::Physics::Representation::m_isDrivingSceneElementPose

private

Is this representation driving the sceneElement pose.

## m_isGravityEnabled

bool SurgSim::Physics::Representation::m_isGravityEnabled

private

Gravity enabled flag.

## m_logger

std::shared_ptr<SurgSim::Framework::Logger> SurgSim::Physics::Representation::m_logger

private

Logger for this class.

## m_numDof

size_t SurgSim::Physics::Representation::m_numDof

private

Number of degrees of freedom for this representation.

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

- SurgSim/Physics/Representation.h
- SurgSim/Physics/Representation.cpp