FixedRepresentation.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_FIXEDREPRESENTATION_H
#define SURGSIM_PHYSICS_FIXEDREPRESENTATION_H
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Physics/RigidRepresentationBase.h"
namespace SurgSim
{
namespace Physics
{
class RigidState;
typedef RigidLocalization FixedLocalization;
SURGSIM_STATIC_REGISTRATION(FixedRepresentation);
class FixedRepresentation : public RigidRepresentationBase
{
public:
explicit FixedRepresentation(const std::string& name);
virtual ~FixedRepresentation();
SURGSIM_CLASSNAME(SurgSim::Physics::FixedRepresentation);
void updateGlobalInertiaMatrices(const RigidState& state) override;
void update(double dt) override;
};
}; // Physics
}; // SurgSim
#endif // SURGSIM_PHYSICS_FIXEDREPRESENTATION_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::FixedRepresentation::SURGSIM_CLASSNAME
SURGSIM_CLASSNAME(SurgSim::Physics::FixedRepresentation)
SurgSim::Physics::FixedRepresentation
The FixedRepresentation class represents a physics entity without any motion nor compliance against w...
Definition: FixedRepresentation.h:35
ObjectFactory.h
RigidRepresentationBase.h
SurgSim::Physics::RigidRepresentationBase
The RigidRepresentationBase class defines the base class for all rigid motion based representations (...
Definition: RigidRepresentationBase.h:38
SurgSim::Physics::RigidState
The RigidState class describes a state (position and velocity information).
Definition: RigidState.h:31
SurgSim::Physics::RigidLocalization
This class implements the localization on a RigidRepresentationBase, as a local position.
Definition: RigidLocalization.h:31
SurgSim::Physics::FixedRepresentation::update
void update(double dt) override
Update the representation state to the current time step.
Definition: FixedRepresentation.cpp:38
SurgSim::Physics::FixedRepresentation::~FixedRepresentation
virtual ~FixedRepresentation()
Destructor.
Definition: FixedRepresentation.cpp:29
SurgSim::Physics::FixedRepresentation::FixedRepresentation
FixedRepresentation(const std::string &name)
Constructor.
Definition: FixedRepresentation.cpp:24
SurgSim::Physics::FixedLocalization
RigidLocalization FixedLocalization
Definition: FixedRepresentation.h:27
SurgSim::Physics::FixedRepresentation::updateGlobalInertiaMatrices
void updateGlobalInertiaMatrices(const RigidState &state) override
Definition: FixedRepresentation.cpp:33