FemLocalization.h

// 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_FEMLOCALIZATION_H
#define SURGSIM_PHYSICS_FEMLOCALIZATION_H

#include "SurgSim/DataStructures/IndexedLocalCoordinate.h"
#include "SurgSim/Physics/Localization.h"

namespace SurgSim
{

namespace Physics
{

class FemLocalization : public Localization
{
public:
    FemLocalization(std::shared_ptr<Representation> representation,
        const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition);

    virtual ~FemLocalization();

    void setLocalPosition(const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition);

    const SurgSim::DataStructures::IndexedLocalCoordinate& getLocalPosition() const;

private:
    SurgSim::Math::Vector3d doCalculatePosition(double time) const override;

    SurgSim::Math::Vector3d doCalculateVelocity(double time) const override;

    std::shared_ptr<Localization> doCopy() const override;

    SurgSim::DataStructures::IndexedLocalCoordinate m_position;
};

} // namespace Physics

} // namespace SurgSim

#endif // SURGSIM_PHYSICS_FEMLOCALIZATION_H