MassSpringLocalization.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_MASSSPRINGLOCALIZATION_H
#define SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H

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

namespace SurgSim
{
namespace Physics
{
class MassSpringRepresentation;

class MassSpringLocalization: public Localization
{
public:
    MassSpringLocalization();

    explicit MassSpringLocalization(std::shared_ptr<Representation> representation);

    virtual ~MassSpringLocalization();

    void setLocalNode(size_t nodeID);

    const DataStructures::OptionalValue<size_t>& getLocalNode() const;

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

    const DataStructures::OptionalValue<SurgSim::DataStructures::IndexedLocalCoordinate>& getLocalPosition() const;

    bool isValidRepresentation(std::shared_ptr<Representation> representation) override;

    bool moveClosestTo(const Math::Vector3d& point, bool *hasReachedEnd) override;

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

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

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

    DataStructures::OptionalValue<size_t> m_nodeID;
    DataStructures::OptionalValue<DataStructures::IndexedLocalCoordinate> m_position;
};

};  // namespace Physics

};  // namespace SurgSim

#endif  // SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H