Generic rigid shape class defining a shape. More...

#include <Shape.h>

Inheritance diagram for SurgSim::Math::Shape:

Public Types
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 Member Functions
	Shape ()
	Constructor.

virtual	~Shape ()
	Destructor.

virtual int	getType () const =0

virtual double	getVolume () const =0
	Get the volume of the shape. More...

virtual Vector3d	getCenter () const =0
	Get the volumetric center of the shape. More...

virtual Matrix33d	getSecondMomentOfVolume () const =0
	Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix. More...

virtual bool	isTransformable () const

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

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

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

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

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

virtual bool	isValid () const =0
	Check if the shape is valid. More...

virtual const Math::Aabbd &	getBoundingBox () const

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

Protected Attributes
Math::Aabbd	m_aabb

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

Detailed Description

Generic rigid shape class defining a shape.

Note: This class gives the ability to analyze the shape and compute; physical information (volume, mass, mass center, inertia)

Member Function Documentation

§ getBoundingBox()

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

virtual

Returns: the bounding box for the shape

Reimplemented in SurgSim::Math::CompoundShape, SurgSim::Math::ParticlesShape, and SurgSim::Math::OctreeShape.

§ getCenter()

virtual Vector3d SurgSim::Math::Shape::getCenter ( ) const

pure virtual

Get the volumetric center of the shape.

Returns: The center of the shape

Implemented in SurgSim::Math::CompoundShape, SurgSim::Math::MeshShape, SurgSim::Math::ParticlesShape, SurgSim::Math::BoxShape, SurgSim::Math::OctreeShape, SurgSim::Math::SegmentMeshShape, SurgSim::Math::CapsuleShape, SurgSim::Math::CylinderShape, SurgSim::Math::PlaneShape, SurgSim::Math::SphereShape, and SurgSim::Math::DoubleSidedPlaneShape.

§ getSecondMomentOfVolume()

virtual Matrix33d SurgSim::Math::Shape::getSecondMomentOfVolume ( ) const

pure virtual

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

Returns: The 3x3 symmetric second moment matrix

Implemented in SurgSim::Math::CompoundShape, SurgSim::Math::MeshShape, SurgSim::Math::ParticlesShape, SurgSim::Math::BoxShape, SurgSim::Math::CapsuleShape, SurgSim::Math::OctreeShape, SurgSim::Math::CylinderShape, SurgSim::Math::SegmentMeshShape, SurgSim::Math::PlaneShape, SurgSim::Math::SphereShape, and SurgSim::Math::DoubleSidedPlaneShape.

§ getTransformed()

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

virtual

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 in SurgSim::Math::CompoundShape, SurgSim::Math::MeshShape, SurgSim::Math::ParticlesShape, and SurgSim::Math::SegmentMeshShape.

§ getType()

virtual int SurgSim::Math::Shape::getType ( ) const

pure virtual

Returns: the type of shape

Implemented in SurgSim::Math::CompoundShape, SurgSim::Math::ParticlesShape, SurgSim::Math::MeshShape, SurgSim::Math::SurfaceMeshShape, SurgSim::Math::SegmentMeshShape, SurgSim::Math::OctreeShape, SurgSim::Math::PlaneShape, SurgSim::Math::BoxShape, SurgSim::Math::CapsuleShape, SurgSim::Math::CylinderShape, SurgSim::Math::DoubleSidedPlaneShape, and SurgSim::Math::SphereShape.

§ getVolume()

virtual double SurgSim::Math::Shape::getVolume ( ) const

pure virtual

Get the volume of the shape.

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

Implemented in SurgSim::Math::CompoundShape, SurgSim::Math::MeshShape, SurgSim::Math::ParticlesShape, SurgSim::Math::BoxShape, SurgSim::Math::OctreeShape, SurgSim::Math::SegmentMeshShape, SurgSim::Math::CapsuleShape, SurgSim::Math::CylinderShape, SurgSim::Math::PlaneShape, SurgSim::Math::SphereShape, and SurgSim::Math::DoubleSidedPlaneShape.

§ isTransformable()

bool SurgSim::Math::Shape::isTransformable ( ) const

virtual

Returns: true if the the shape can be transformed

Reimplemented in SurgSim::Math::CompoundShape, and SurgSim::Math::VerticesShape.

§ isValid()

virtual bool SurgSim::Math::Shape::isValid ( ) const

pure virtual

Check if the shape is valid.

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

Implemented in SurgSim::Math::CompoundShape, SurgSim::Math::MeshShape, SurgSim::Math::ParticlesShape, SurgSim::Math::BoxShape, SurgSim::Math::OctreeShape, SurgSim::Math::SurfaceMeshShape, SurgSim::Math::CapsuleShape, SurgSim::Math::PlaneShape, SurgSim::Math::CylinderShape, SurgSim::Math::DoubleSidedPlaneShape, SurgSim::Math::SegmentMeshShape, and SurgSim::Math::SphereShape.

§ setPose()

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

virtual

Set the pose on a transformable shape.

Parameters

pose	The pose to transform the shape by.

Reimplemented in SurgSim::Math::CompoundShape, SurgSim::Math::MeshShape, SurgSim::Math::ParticlesShape, and SurgSim::Math::SegmentMeshShape.

§ updateShapePartial()

void SurgSim::Math::Shape::updateShapePartial ( )

virtual

Update some of the internals of a transformable shape.

Only called if the AABB has not changed much.

Reimplemented in SurgSim::Math::CompoundShape, SurgSim::Math::MeshShape, SurgSim::Math::ParticlesShape, and SurgSim::Math::SegmentMeshShape.

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

SurgSim/Math/Shape.h
SurgSim/Math/Shape.cpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

§ getBoundingBox()

§ getCenter()

§ getSecondMomentOfVolume()

§ getTransformed()

§ getType()

§ getVolume()

§ isTransformable()

§ isValid()

§ setPose()

§ updateShapePartial()