Implementation of Localization for Fem3DRepresentation. More...

#include <FemLocalization.h>

Inheritance diagram for SurgSim::Physics::FemLocalization:

Public Member Functions
	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 bool	isValidRepresentation (std::shared_ptr< Representation > representation)

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

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

std::shared_ptr< Localization >	copy () const

Detailed Description

Implementation of Localization for Fem3DRepresentation.

FemLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an FemRepresentation. 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). It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in Fem3DRepresentationContact::doBuild, which constrains the motion of Fem3DRepresentation at a frictionless contact.

Constructor & Destructor Documentation

§ FemLocalization()

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

Constructor.

Parameters

representation	The representation to assign to this localization.
localPosition	The local position to set the localization at.

Member Function Documentation

§ getLocalPosition()

const SurgSim::DataStructures::IndexedLocalCoordinate & SurgSim::Physics::FemLocalization::getLocalPosition ( ) const

Gets the local position.

Returns: The local position set for this localization.

§ setLocalPosition()

void SurgSim::Physics::FemLocalization::setLocalPosition ( const SurgSim::DataStructures::IndexedLocalCoordinate & localPosition )

Sets the local position.