SurgSim::Physics::Fem3DLocalization Class Reference

Implementation of Localization for Fem3DRepresentation. More...

`#include <SurgSim/Physics/Fem3DLocalization.h>`

Inheritance diagram for SurgSim::Physics::Fem3DLocalization:

## Public Member Functions

| Fem3DLocalization (std::shared_ptr< Representation > representation, const SurgSim::DataStructures::IndexedLocalCoordinate &localPosition)
| Constructor. More...
virtual | ~Fem3DLocalization ()
| Destructor. More...
bool | isValidRepresentation (std::shared_ptr< Representation > representation) override
| Query if 'representation' is valid representation. 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 Math::RigidTransform3d | getElementPose ()
| Find a pose that the localization is represented with respect to. More...
virtual bool | moveClosestTo (const Math::Vector3d &point, bool *hasReachedEnd)

## Detailed Description

Implementation of Localization for Fem3DRepresentation.

Fem3DLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an Fem3DRepresentation. 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). It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in Fem3DRepresentationContact::doBuild, which constrains the motion of Fem3DRepresentation at a frictionless contact.

## Constructor & Destructor Documentation

## Fem3DLocalization()

SurgSim::Physics::Fem3DLocalization::Fem3DLocalization | ( | std::shared_ptr< Representation > | representation,
|  | const SurgSim::DataStructures::IndexedLocalCoordinate & | localPosition
| ) |  |

Constructor.

Parameters

  representation | The representation to assign to this localization.
  localPosition | The local position to set the localization at.

## ~Fem3DLocalization()

SurgSim::Physics::Fem3DLocalization::~Fem3DLocalization | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## isValidRepresentation()

bool SurgSim::Physics::Fem3DLocalization::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/Fem3DLocalization.h
- SurgSim/Physics/Fem3DLocalization.cpp