Particles Shape: A shape consisting of a group of particles of equal radius. More...

#include <ParticlesShape.h>

Inheritance diagram for SurgSim::Math::ParticlesShape:

Public Member Functions
	ParticlesShape (double radius=0.0)
	Constructor. More...

	ParticlesShape (const ParticlesShape &other)
	Copy constructor. More...

template<class V >
	ParticlesShape (const SurgSim::DataStructures::Vertices< V > &other)
	Copy constructor from another Vertices type. More...

template<class V >
ParticlesShape &	operator= (const Vertices< V > &other)
	Assignment when the template data is a different type. More...

	SURGSIM_CLASSNAME (SurgSim::Math::ParticlesShape)

const std::shared_ptr< const SurgSim::DataStructures::AabbTree >	getAabbTree () const
	Get the AabbTree. More...

void	setRadius (double radius)
	Set the particles' radius. More...

double	getRadius () const
	Get the radius of the particles. More...

int	getType () const override

double	getVolume () const override
	Get the volume of the shape. More...

Vector3d	getCenter () const override
	Get the volumetric center of the shape. More...

Matrix33d	getSecondMomentOfVolume () const override
	Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix. More...

std::shared_ptr< Shape >	getTransformed (const RigidTransform3d &pose) const override
	Get a copy of this shape with an applied rigid transform. More...

bool	isValid () const override
	Check if the shape is valid. More...

const Math::Aabbd &	getBoundingBox () const override

void	setPose (const RigidTransform3d &pose) override
	Set the pose on a transformable shape. More...

void	updateShape () override
	Update the internals of a transformable shape.

void	updateShapePartial () override
	Update some of the internals of a transformable shape. More...

template<class V >
ParticlesShape &	operator= (const SurgSim::DataStructures::Vertices< V > &other)

Public Member Functions inherited from SurgSim::Math::VerticesShape
bool	isTransformable () const override

void	setInitialVertices (const DataStructures::Vertices< DataStructures::EmptyData > &vertices)
	Set the initial Vertices. More...

void	setInitialVertices (DataStructures::Vertices< DataStructures::EmptyData > &&vertices)
	Set the initial Vertices via r-value. More...

const DataStructures::Vertices< DataStructures::EmptyData > &	getInitialVertices () const
	Get the initial Vertices. More...

Public Member Functions inherited from SurgSim::Math::Shape
	Shape ()
	Constructor.

virtual	~Shape ()
	Destructor.

virtual std::string	getClassName () const
	Get class name.

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

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...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Public Member Functions inherited from SurgSim::DataStructures::Vertices< DataStructures::EmptyData >
	Vertices ()
	Constructor.

	Vertices (const Vertices< V > &other)
	Copy constructor when the template data is a different type In this case, no data will be copied. More...

Vertices< DataStructures::EmptyData > &	operator= (const Vertices< V > &other)
	Assignment when the template data is a different type In this case, no data will be copied. More...

virtual	~Vertices ()
	Destructor.

void	clear ()
	Clear mesh to return to an empty state (no vertices).

bool	update ()
	Performs any updates that are required when the vertices are modified. More...

size_t	addVertex (const VertexType &vertex)
	Adds a vertex to the mesh. More...

size_t	getNumVertices () const
	Returns the number of vertices in this mesh.

const VertexType &	getVertex (size_t id) const
	Returns the specified vertex.

VertexType &	getVertex (size_t id)
	Returns the specified vertex (non const version).

const std::vector< VertexType > &	getVertices () const
	Returns a vector containing the position of each vertex.

std::vector< VertexType > &	getVertices ()
	Returns a vector containing the position of each vertex (non const version).

void	setVertexPosition (size_t id, const SurgSim::Math::Vector3d &position)
	Sets the position of a vertex. More...

const SurgSim::Math::Vector3d &	getVertexPosition (size_t id) const
	Returns the position of a vertex. More...

void	setVertexPositions (const std::vector< SurgSim::Math::Vector3d > &positions, bool doUpdate=true)
	Sets the position of each vertex. More...

void	transform (const Math::RigidTransform3d &pose)
	Apply a rigid transform to each vertex. More...

bool	operator== (const Vertices &mesh) const
	Compares the mesh with another one (equality) More...

bool	operator!= (const Vertices &mesh) const
	Compares the mesh with another one (inequality) More...

Additional Inherited Members
Public Types inherited from SurgSim::Math::Shape
typedef ::SurgSim::Math::Vector3d	Vector3d

typedef ::SurgSim::Math::Matrix33d	Matrix33d

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::FactoryBase< Shape >
typedef ObjectFactory< Shape >	FactoryType

Public Types inherited from SurgSim::DataStructures::Vertices< DataStructures::EmptyData >
typedef Vertex< DataStructures::EmptyData >	VertexType
	Vertex type for convenience.

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Shape >
static FactoryType &	getFactory ()

Protected Member Functions inherited from SurgSim::DataStructures::Vertices< DataStructures::EmptyData >
virtual void	doClearVertices ()
	Remove all vertices from the mesh.

virtual bool	isEqual (const Vertices &mesh) const
	Internal comparison of meshes of the same type: returns true if equal, false if not equal. More...

Protected Attributes inherited from SurgSim::Math::VerticesShape
DataStructures::Vertices< DataStructures::EmptyData >	m_initialVertices
	The initial vertex positions.

Protected Attributes inherited from SurgSim::Math::Shape
Math::Aabbd	m_aabb

Detailed Description

Particles Shape: A shape consisting of a group of particles of equal radius.

Constructor & Destructor Documentation

§ ParticlesShape() [1/3]

SurgSim::Math::ParticlesShape::ParticlesShape ( double radius = 0.0 )

explicit

Constructor.

Parameters

radius The particles' radius (in m)

§ ParticlesShape() [2/3]

SurgSim::Math::ParticlesShape::ParticlesShape ( const ParticlesShape & other )

explicit

Copy constructor.

Parameters

other The ParticleShape to be copied from

§ ParticlesShape() [3/3]

template<class V >

SurgSim::Math::ParticlesShape::ParticlesShape ( const SurgSim::DataStructures::Vertices< V > & other )

explicit

Copy constructor from another Vertices type.

Template Parameters

V	type of data stored in the other vertices

Parameters

other The vertices to be copied from. Vertex data will not be copied

Member Function Documentation

§ getAabbTree()

const std::shared_ptr< const SurgSim::DataStructures::AabbTree > SurgSim::Math::ParticlesShape::getAabbTree ( ) const

Get the AabbTree.

Returns: The object's associated AabbTree

§ getBoundingBox()

const Math::Aabbd & SurgSim::Math::ParticlesShape::getBoundingBox ( ) const

overridevirtual

Returns: the bounding box for the shape

Reimplemented from SurgSim::Math::Shape.

§ getCenter()

Vector3d SurgSim::Math::ParticlesShape::getCenter ( ) const

overridevirtual

Get the volumetric center of the shape.

Returns: The center of the shape

Implements SurgSim::Math::Shape.

§ getRadius()

double SurgSim::Math::ParticlesShape::getRadius ( ) const

Get the radius of the particles.

Returns: The particles' radius

§ getSecondMomentOfVolume()

Matrix33d SurgSim::Math::ParticlesShape::getSecondMomentOfVolume ( ) const

overridevirtual

Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.

Returns: The 3x3 symmetric second moment matrix

Implements SurgSim::Math::Shape.

§ getTransformed()

std::shared_ptr< Shape > SurgSim::Math::ParticlesShape::getTransformed ( const RigidTransform3d & pose ) const

overridevirtual

Get a copy of this shape with an applied rigid transform.

Parameters

pose	The pose to transform the shape by

Returns: the posed shape

Reimplemented from SurgSim::Math::Shape.

§ getType()

int SurgSim::Math::ParticlesShape::getType ( ) const

overridevirtual

Returns: the type of shape

Implements SurgSim::Math::Shape.

§ getVolume()

double SurgSim::Math::ParticlesShape::getVolume ( ) const

overridevirtual

Get the volume of the shape.

Returns: The volume of the shape (in m-3)

Implements SurgSim::Math::Shape.

§ isValid()

bool SurgSim::Math::ParticlesShape::isValid ( ) const

overridevirtual

Check if the shape is valid.

Returns: True if shape is valid; Otherwise, false.

Implements SurgSim::Math::Shape.

§ operator=()

template<class V >

ParticlesShape& SurgSim::Math::ParticlesShape::operator= ( const Vertices< V > & other )

Assignment when the template data is a different type.

Template Parameters

V	type of data stored in the other Vertices

Parameters

other the Vertices to copy from

§ setPose()

void SurgSim::Math::ParticlesShape::setPose ( const RigidTransform3d & pose )

overridevirtual

Set the pose on a transformable shape.

Parameters

pose	The pose to transform the shape by.

Reimplemented from SurgSim::Math::Shape.

§ setRadius()

void SurgSim::Math::ParticlesShape::setRadius ( double radius )

Set the particles' radius.

Parameters

radius the radius being set to all particles

§ updateShapePartial()

void SurgSim::Math::ParticlesShape::updateShapePartial ( )

overridevirtual

Update some of the internals of a transformable shape.

Only called if the AABB has not changed much.

Reimplemented from SurgSim::Math::Shape.

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

SurgSim/Math/ParticlesShape.h
SurgSim/Math/ParticlesShape-inl.h
SurgSim/Math/ParticlesShape.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ ParticlesShape() [1/3]

§ ParticlesShape() [2/3]

§ ParticlesShape() [3/3]

Member Function Documentation

§ getAabbTree()

§ getBoundingBox()

§ getCenter()

§ getRadius()

§ getSecondMomentOfVolume()

§ getTransformed()

§ getType()

§ getVolume()

§ isValid()

§ operator=()

§ setPose()

§ setRadius()

§ updateShapePartial()