SurgSim::Physics::RigidState Class Reference

The RigidState class describes a state (position and velocity information). More...

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

Inheritance diagram for SurgSim::Physics::RigidState:

## Public Member Functions

| RigidState ()
| Default constructor. More...
| RigidState (const RigidState &rhs)
| Default constructor. More...
RigidState & | operator= (const RigidState &rhs)
| Copy assignment. More...
virtual | ~RigidState ()
| Destructor. More...
| SURGSIM_CLASSNAME (SurgSim::Physics::RigidState)
bool | operator== (const RigidState &rhs) const
| Comparison operator. More...
bool | operator!= (const RigidState &rhs) const
| Comparison operator. More...
void | reset ()
| Reset the state to default values Vectors will be filled with 0 Rotations will be set to identity (quaternion or matrix type) If you want to reset to initial values, you need to save them separately in another RigidState and assign it to this instance. More...
const SurgSim::Math::Vector3d & | getLinearVelocity () const
| Get the linear velocity. More...
const SurgSim::Math::Vector3d & | getAngularVelocity () const
| Get the angular velocity. More...
void | setLinearVelocity (const SurgSim::Math::Vector3d &v)
| Set the linear velocity. More...
void | setAngularVelocity (const SurgSim::Math::Vector3d &w)
| Set the angular velocity. More...
void | setPose (const SurgSim::Math::RigidTransform3d &pose)
| Set the rigid representation pose. More...
const SurgSim::Math::RigidTransform3d & | getPose () const
| Get the rigid representation pose. More...
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

## Private Member Functions

void | addSerializableProperty ()
| Register accessors of serializable properties. More...

## Private Attributes

SurgSim::Math::Vector3d | m_v
| Linear velocity. More...
SurgSim::Math::Vector3d | m_w
| Angular velocity. More...
SurgSim::Math::RigidTransform3d | m_pose
| Rigid representation pose (translation + rotation) 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

## Detailed Description

The RigidState class describes a state (position and velocity information).

## Constructor & Destructor Documentation

## RigidState() [1/2]

SurgSim::Physics::RigidState::RigidState | ( |  | ) |

Default constructor.

## RigidState() [2/2]

SurgSim::Physics::RigidState::RigidState | ( | const RigidState & | rhs | ) |

Default constructor.

## ~RigidState()

SurgSim::Physics::RigidState::~RigidState | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## addSerializableProperty()

void SurgSim::Physics::RigidState::addSerializableProperty | ( |  | ) |

private

Register accessors of serializable properties.

## getAngularVelocity()

const SurgSim::Math::Vector3d & SurgSim::Physics::RigidState::getAngularVelocity | ( |  | ) | const

Get the angular velocity.

Returns
  the angular velocity

## getLinearVelocity()

const SurgSim::Math::Vector3d & SurgSim::Physics::RigidState::getLinearVelocity | ( |  | ) | const

Get the linear velocity.

Returns
  the linear velocity

## getPose()

const SurgSim::Math::RigidTransform3d & SurgSim::Physics::RigidState::getPose | ( |  | ) | const

Get the rigid representation pose.

Returns
  A constant reference to the pose (read only)

## operator!=()

bool SurgSim::Physics::RigidState::operator!= | ( | const RigidState & | rhs | ) | const

Comparison operator.

Parameters

  rhs | A RigidState to compare it to

Returns
  False if the 2 states are equals, True otherwise

## operator=()

RigidState & SurgSim::Physics::RigidState::operator= | ( | const RigidState & | rhs | ) |

Copy assignment.

Parameters

  rhs | Right hand side RigidState from which data are copied.

Note
  'm_functors' in base class Accessible is NOT copied.

## operator==()

bool SurgSim::Physics::RigidState::operator== | ( | const RigidState & | rhs | ) | const

Comparison operator.

Parameters

  rhs | A RigidState to compare it to

Returns
  True if the 2 states are equals, False otherwise

## reset()

void SurgSim::Physics::RigidState::reset | ( |  | ) |

Reset the state to default values Vectors will be filled with 0 Rotations will be set to identity (quaternion or matrix type) If you want to reset to initial values, you need to save them separately in another RigidState and assign it to this instance.

## setAngularVelocity()

void SurgSim::Physics::RigidState::setAngularVelocity | ( | const SurgSim::Math::Vector3d & | w | ) |

Set the angular velocity.

Parameters

  w | The angular velocity

## setLinearVelocity()

void SurgSim::Physics::RigidState::setLinearVelocity | ( | const SurgSim::Math::Vector3d & | v | ) |

Set the linear velocity.

Parameters

  v | The linear velocity

## setPose()

void SurgSim::Physics::RigidState::setPose | ( | const SurgSim::Math::RigidTransform3d & | pose | ) |

Set the rigid representation pose.

Parameters

  pose | The pose to set the rigid representation to

## SURGSIM_CLASSNAME()

SurgSim::Physics::RigidState::SURGSIM_CLASSNAME | ( | SurgSim::Physics::RigidState |  | ) |

## Member Data Documentation

## m_pose

SurgSim::Math::RigidTransform3d SurgSim::Physics::RigidState::m_pose

private

Rigid representation pose (translation + rotation)

## m_v

SurgSim::Math::Vector3d SurgSim::Physics::RigidState::m_v

private

Linear velocity.

## m_w

SurgSim::Math::Vector3d SurgSim::Physics::RigidState::m_w

private

Angular velocity.

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

- SurgSim/Physics/RigidState.h
- SurgSim/Physics/RigidState.cpp