MassSpringLocalization.h
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// 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_MASSSPRINGLOCALIZATION_H
#define SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H
#include "SurgSim/Physics/Localization.h"
#include "SurgSim/Physics/MassSpringRepresentation.h"
namespace SurgSim
{
namespace Physics
{
class MassSpringLocalization: public Localization
{
public:
MassSpringLocalization();
explicit MassSpringLocalization(std::shared_ptr<Representation> representation);
virtual ~MassSpringLocalization();
void setLocalNode(size_t nodeID);
const size_t& getLocalNode() const;
bool isValidRepresentation(std::shared_ptr<Representation> representation) override;
private:
SurgSim::Math::Vector3d doCalculatePosition(double time) const override;
SurgSim::Math::Vector3d doCalculateVelocity(double time) const override;
size_t m_nodeID;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::MassSpringLocalization::m_nodeID
size_t m_nodeID
Node defining the localization.
Definition: MassSpringLocalization.h:76
Localization.h
SurgSim::Physics::MassSpringLocalization::getLocalNode
const size_t & getLocalNode() const
Gets the local node.
Definition: MassSpringLocalization.cpp:46
SurgSim::Physics::MassSpringLocalization::isValidRepresentation
bool isValidRepresentation(std::shared_ptr< Representation > representation) override
Queries whether Representation can be assigned to this class.
Definition: MassSpringLocalization.cpp:97
SurgSim::Physics::MassSpringLocalization::setLocalNode
void setLocalNode(size_t nodeID)
Sets the local node.
Definition: MassSpringLocalization.cpp:41
SurgSim::Physics::MassSpringLocalization::doCalculatePosition
SurgSim::Math::Vector3d doCalculatePosition(double time) const override
Calculates the global position of this localization.
Definition: MassSpringLocalization.cpp:51
SurgSim::Physics::MassSpringLocalization::doCalculateVelocity
SurgSim::Math::Vector3d doCalculateVelocity(double time) const override
Calculates the global velocity of this localization.
Definition: MassSpringLocalization.cpp:74
SurgSim::Physics::MassSpringLocalization::MassSpringLocalization
MassSpringLocalization()
Default constructor.
Definition: MassSpringLocalization.cpp:24
MassSpringRepresentation.h
SurgSim::Physics::MassSpringLocalization::~MassSpringLocalization
virtual ~MassSpringLocalization()
Destructor.
Definition: MassSpringLocalization.cpp:36
SurgSim::Physics::Localization
This class localize a point on a representation (representation specific)
Definition: Localization.h:39
SurgSim::Math::Vector3d
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
SurgSim::Physics::MassSpringLocalization
Implementation of Localization for MassSpringRepresentation.
Definition: MassSpringLocalization.h:39