SurgSim::Particles::Representation Class Reference

The Representation class defines the base class for all Particle System. More...

#include <Representation.h>

Inheritance diagram for SurgSim::Particles::Representation:

Public Member Functions
	Representation (const std::string &name)
	Constructor. More...
virtual	~Representation ()
	Destructor.
void	setMaxParticles (size_t maxParticles)
	Set the maximum number of particles of this system. More...
size_t	getMaxParticles () const
bool	addParticle (const Particle &particle)
	Add a particle. More...
bool	addParticle (const Math::Vector3d &position, const Math::Vector3d &velocity, double lifetime)
	Add a particle. More...
void	removeParticle (size_t index)
	Remove a particle. More...
SurgSim::DataStructures::BufferedValue< Particles > &	getParticles ()
	Get the particles. More...
void	update (double dt)
	Update the particle system. More...
void	handleCollisions (double dt)
	Handle collisions with particle system. More...
void	setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation)
	Set the collision representation for this Particle Representation. More...
std::shared_ptr< SurgSim::Collision::Representation >	getCollisionRepresentation () const
	Get the collision representation for this Particle Representation. More...
Public Member Functions inherited from SurgSim::Framework::Representation
	Representation (const std::string &name)
	Constructor. More...
virtual void	setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
	Set the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d	getLocalPose () const
	Get the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d	getPose () const
	Get the pose of the representation in world coordinates. More...
Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...
virtual	~Component ()
	Destructor.
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.
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.
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.
	~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 Member Functions
virtual bool	doUpdate (double dt)=0
	Implementation of the specific behavior of the particle system. More...
virtual bool	doHandleCollisions (double dt, const SurgSim::Collision::ContactMapType &collisions)=0
	Implementation of the specific collision handling of the particle system. More...
bool	doInitialize () override
	Interface to be implemented by derived classes. More...
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...

Protected Attributes
size_t	m_maxParticles
	Maximum amount of particles allowed in this particle system.
SurgSim::DataStructures::BufferedValue< Particles >	m_particles
	BufferedValue of particles.
std::shared_ptr< SurgSim::Framework::Logger >	m_logger
	Logger used by the particle system.
std::shared_ptr< SurgSim::Collision::Representation >	m_collisionRepresentation
	This entity's collision representation.

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

Detailed Description

The Representation class defines the base class for all Particle System.

Constructor & Destructor Documentation

Representation()

SurgSim::Particles::Representation::Representation ( const std::string &  name )

explicit

Constructor.

Parameters

name	The representation's name

Member Function Documentation

addParticle() [1/2]

bool SurgSim::Particles::Representation::addParticle

(

const Particle &

particle

)

Add a particle.

Parameters

particle

The new particle

Returns

True if the particle was successfully added, false otherwise

addParticle() [2/2]

bool SurgSim::Particles::Representation::addParticle	(	const Math::Vector3d &	position,
		const Math::Vector3d &	velocity,
		double	lifetime
	)

Add a particle.

Parameters

position	The position of the new particle
velocity	The velocity of the new particle
lifetime	The lenght of time the particle will exist

Returns

True if the particle was successfully added, false otherwise

doHandleCollisions()

virtual bool SurgSim::Particles::Representation::doHandleCollisions ( double  dt, const SurgSim::Collision::ContactMapType &  collisions  )

protectedpure virtual

Implementation of the specific collision handling of the particle system.

Returns

True if succeeded, False otherwise.

Implemented in SurgSim::Particles::SphRepresentation.

doInitialize()

bool SurgSim::Particles::Representation::doInitialize ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns

True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

Reimplemented in SurgSim::Particles::SphRepresentation.

doUpdate()

virtual bool SurgSim::Particles::Representation::doUpdate ( double  dt )

protectedpure virtual

Implementation of the specific behavior of the particle system.

Returns

True if update succeeded, False otherwise.

Implemented in SurgSim::Particles::SphRepresentation.

getCollisionRepresentation()

std::shared_ptr< SurgSim::Collision::Representation > SurgSim::Particles::Representation::getCollisionRepresentation

(

)

const

Get the collision representation for this Particle Representation.

Returns

the collision representation

getMaxParticles()

size_t SurgSim::Particles::Representation::getMaxParticles

(

)

const

Returns

The number of particles allowed in this system.

getParticles()

SurgSim::DataStructures::BufferedValue< Particles > & SurgSim::Particles::Representation::getParticles

(

)

Get the particles.

Returns

The particles in a BufferedValue

handleCollisions()

void SurgSim::Particles::Representation::handleCollisions

(

double

dt

)

Handle collisions with particle system.

Parameters

dt	The time step.

removeParticle()

void SurgSim::Particles::Representation::removeParticle

(

size_t

index

)

Remove a particle.

Note

The particle will be removed during the next update

Parameters

index

of the particle

setCollisionRepresentation()

void SurgSim::Particles::Representation::setCollisionRepresentation

(

std::shared_ptr< SurgSim::Collision::Representation >

representation

)

Set the collision representation for this Particle Representation.

Parameters

representation

The collision representation to be set

setMaxParticles()

void SurgSim::Particles::Representation::setMaxParticles

(

size_t

maxParticles

)

Set the maximum number of particles of this system.

Note

Once initialized, it can't be changed.

Parameters

maxParticles

The maximum number of particles in this system.

update()

void SurgSim::Particles::Representation::update

(

double

dt

)

Update the particle system.

Parameters

dt	The time step.

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

• SurgSim/Particles/Representation.h
• SurgSim/Particles/Representation.cpp