Implementation of Localization for Fem1DRepresentation. More...

#include <Fem1DLocalization.h>

Inheritance diagram for SurgSim::Physics::Fem1DLocalization:

Public Member Functions
	Fem1DLocalization (std::shared_ptr< Representation > representation, const SurgSim::DataStructures::IndexedLocalCoordinate &localCoordinate)
	Constructor. More...

virtual	~Fem1DLocalization ()
	Destructor.

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

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

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

Public Member Functions inherited from SurgSim::Physics::FemLocalization
	FemLocalization (std::shared_ptr< Representation > representation, const SurgSim::DataStructures::IndexedLocalCoordinate &localPosition)
	Constructor. More...

virtual	~FemLocalization ()
	Destructor.

void	setLocalPosition (const SurgSim::DataStructures::IndexedLocalCoordinate &localPosition)
	Sets the local position. More...

const SurgSim::DataStructures::IndexedLocalCoordinate &	getLocalPosition () const
	Gets the local position. More...

Public Member Functions inherited from SurgSim::Physics::Localization
	Localization ()
	Default constructor.

	Localization (std::shared_ptr< Representation > representation)
	Constructor. More...

virtual	~Localization ()
	Destructor.

void	setRepresentation (std::shared_ptr< Representation > representation)
	Sets the representation. More...

std::shared_ptr< Representation >	getRepresentation () const
	Gets the representation. More...

SurgSim::Math::Vector3d	calculatePosition (double time=1.0) const
	Calculates the global position of this localization. More...

SurgSim::Math::Vector3d	calculateVelocity (double time=1.0) const
	Calculates the global velocity of this localization. More...

virtual Math::RigidTransform3d	getElementPose ()
	Find a pose that the localization is represented with respect to. More...

std::shared_ptr< Localization >	copy () const

Detailed Description

Implementation of Localization for Fem1DRepresentation.

Fem1DLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an Fem1DRepresentation. The IndexedLocalCoordinate must be related to an FemElement (the index is an FemElement id and the local coordinates are the barycentric coordinates of the nodes in this FemElement).

Constructor & Destructor Documentation

§ Fem1DLocalization()

SurgSim::Physics::Fem1DLocalization::Fem1DLocalization	(	std::shared_ptr< Representation >	representation,
		const SurgSim::DataStructures::IndexedLocalCoordinate &	localCoordinate
	)

Constructor.

Parameters

representation	The representation to assign to this localization.
localCoordinate	The indexed local coordinate relative to the representation.

Member Function Documentation

§ doCopy()

std::shared_ptr< Localization > SurgSim::Physics::Fem1DLocalization::doCopy ( ) const

overridevirtual

Returns: A copy.

Implements SurgSim::Physics::Localization.

§ moveClosestTo()

bool SurgSim::Physics::Fem1DLocalization::moveClosestTo	(	const Math::Vector3d &	point,
		bool *	hasReachedEnd
	)