SurgSim::Blocks::VisualizeConstraintsBehavior Class Reference

Behavior to visualize information about the constraints as they are in the physics manager this will show the constraint location and the force from the last iteration of the physics manager. More...

`#include <SurgSim/Blocks/VisualizeConstraints.h>`

Inheritance diagram for SurgSim::Blocks::VisualizeConstraintsBehavior:

## Public Types

typedef std::vector< std::pair< int, std::shared_ptr< Framework::Component > > > | FieldsType
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

## Public Member Functions

| VisualizeConstraintsBehavior (const std::string &name)
| SURGSIM_CLASSNAME (SurgSim::Blocks::VisualizeConstraintsBehavior)
void | setVectorField (Physics::ConstraintGroupType constraintType, const std::shared_ptr< Framework::Component > &vectorField)
| Set the graphics Vectorfield to be used to display the constraint of the given physics manager group. More...
void | setVectorFields (const FieldsType &fields)
| Sets all of the fields in one swoop. More...
FieldsType | getVectorFields () const
void | update (double dt) override
| Update the behavior. More...
int | getTargetManagerType () const override
| Specifies which manger will handle this behavior. More...
Public Member Functions inherited from SurgSim::Framework::Behavior
| Behavior (const std::string &name)
virtual | ~Behavior ()
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

## Private Member Functions

bool | doInitialize () override
| Interface to be implemented by derived classes. More...
bool | doWakeUp () override
| Interface to be implemented by derived classes. More...

## Private Attributes

std::weak_ptr< SurgSim::Physics::PhysicsManager > | m_manager
| Need reference to physics manager for introspection into the state. More...
std::map< SurgSim::Physics::ConstraintGroupType, std::shared_ptr< SurgSim::Graphics::VectorFieldRepresentation > > | m_graphics
boost::mutex | m_graphicsMutex
std::shared_ptr< SurgSim::Framework::Logger > | m_logger

## Additional Inherited Members

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType & | getFactory ()
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...

## Detailed Description

Behavior to visualize information about the constraints as they are in the physics manager this will show the constraint location and the force from the last iteration of the physics manager.

Note
  currently only two types of constraint are being visualized MLCP_BILATERAL_3D_CONSTRAINT and MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT

## Member Typedef Documentation

## FieldsType

typedef std::vector<std::pair<int, std::shared_ptr<Framework::Component> > > SurgSim::Blocks::VisualizeConstraintsBehavior::FieldsType

## Constructor & Destructor Documentation

## VisualizeConstraintsBehavior()

SurgSim::Blocks::VisualizeConstraintsBehavior::VisualizeConstraintsBehavior | ( | const std::string & | name | ) |

explicit

## Member Function Documentation

## doInitialize()

bool SurgSim::Blocks::VisualizeConstraintsBehavior::doInitialize | ( |  | ) |

override private virtual

Interface to be implemented by derived classes.

Returns
  True if component is initialized successfully; otherwise, false.

Implements SurgSim::Framework::Component.

## doWakeUp()

bool SurgSim::Blocks::VisualizeConstraintsBehavior::doWakeUp | ( |  | ) |

override private virtual

Interface to be implemented by derived classes.

Returns
  True if component is woken up successfully; otherwise, false.

Implements SurgSim::Framework::Component.

## getTargetManagerType()

int SurgSim::Blocks::VisualizeConstraintsBehavior::getTargetManagerType | ( |  | ) | const

override virtual

Specifies which manger will handle this behavior.

Reimplemented from SurgSim::Framework::Behavior.

## getVectorFields()

SurgSim::Blocks::VisualizeConstraintsBehavior::FieldsType SurgSim::Blocks::VisualizeConstraintsBehavior::getVectorFields | ( |  | ) | const

Returns
  all the vector fields used in this behavior

## setVectorField()

void SurgSim::Blocks::VisualizeConstraintsBehavior::setVectorField | ( | Physics::ConstraintGroupType | constraintType,
|  | const std::shared_ptr< Framework::Component > & | vectorField
| ) |  |

Set the graphics Vectorfield to be used to display the constraint of the given physics manager group.

Parameters

  constraintType | internal group type e.g. CONSTRAINT_GROUP_TYPE_CONTACT
  vectorField | vectorField to be used for visualization of this constraint group

## setVectorFields()

void SurgSim::Blocks::VisualizeConstraintsBehavior::setVectorFields | ( | const FieldsType & | fields | ) |

Sets all of the fields in one swoop.

Parameters

  fields | list of all the fields and their constraint group

## SURGSIM_CLASSNAME()

SurgSim::Blocks::VisualizeConstraintsBehavior::SURGSIM_CLASSNAME | ( | SurgSim::Blocks::VisualizeConstraintsBehavior |  | ) |

## update()

void SurgSim::Blocks::VisualizeConstraintsBehavior::update | ( | double | dt | ) |

override virtual

Update the behavior.

Parameters

  dt | The length of time (seconds) between update calls.

Implements SurgSim::Framework::Behavior.

## Member Data Documentation

## m_graphics

std::map<SurgSim::Physics::ConstraintGroupType, std::shared_ptr<SurgSim::Graphics::VectorFieldRepresentation> > SurgSim::Blocks::VisualizeConstraintsBehavior::m_graphics

private

## m_graphicsMutex

boost::mutex SurgSim::Blocks::VisualizeConstraintsBehavior::m_graphicsMutex

private

## m_logger

std::shared_ptr<SurgSim::Framework::Logger> SurgSim::Blocks::VisualizeConstraintsBehavior::m_logger

private

## m_manager

std::weak_ptr<SurgSim::Physics::PhysicsManager> SurgSim::Blocks::VisualizeConstraintsBehavior::m_manager

private

Need reference to physics manager for introspection into the state.

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

- SurgSim/Blocks/VisualizeConstraints.h
- SurgSim/Blocks/VisualizeConstraints.cpp