This class localize a point on a representation (representation specific) More...
#include <Localization.h>
Inheritance diagram for SurgSim::Physics::Localization:
Public Member Functions | |
| 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
This class localize a point on a representation (representation specific)
Constructor & Destructor Documentation
§ Localization()
|
explicit |
Constructor.
- Parameters
-
representation The representation on which the localization is defined
Member Function Documentation
§ calculatePosition()
| Math::Vector3d SurgSim::Physics::Localization::calculatePosition | ( | double | time = 1.0 | ) | const |
Calculates the global position of this localization.
- Parameters
-
time The time in [0..1] at which the position should be calculated
- Returns
- The global position of the localization at the requested time
- Note
- time can useful when dealing with CCD
- Exceptions
-
SurgSim::Framework::AssertionFailure if time is out-of-range [0..1]
§ calculateVelocity()
| Math::Vector3d SurgSim::Physics::Localization::calculateVelocity | ( | double | time = 1.0 | ) | const |
Calculates the global velocity of this localization.
- Parameters
-
time The time in [0..1] at which the velocity should be calculated
- Returns
- The global velocity of the localization at the requested time
- Note
- time can useful when dealing with CCD
- Exceptions
-
SurgSim::Framework::AssertionFailure if time is out-of-range [0..1]
§ copy()
| std::shared_ptr< Localization > SurgSim::Physics::Localization::copy | ( | ) | const |
- Returns
- A copy.
§ getElementPose()
|
virtual |
Find a pose that the localization is represented with respect to.
In the case of a rigid representation, the pose of the representation is the pose returned. In case of a fem representation, the pose is calculated from the fem element which this localization is a part of.
- Returns
- The pose that the localization is represented with respect to.
Reimplemented in SurgSim::Physics::Fem2DLocalization.
§ getRepresentation()
| std::shared_ptr< Representation > SurgSim::Physics::Localization::getRepresentation | ( | ) | const |
Gets the representation.
- Returns
- The representation on which the localization is defined, nullptr if none has been defined
§ moveClosestTo()
|
virtual |
- Parameters
-
point Move this localization closest to this point hasReachedEnd [out] Flag to set, when the localization reaches the end of the representation.
- Returns
- Whether the localization was moved or not.
Reimplemented in SurgSim::Physics::MassSpringLocalization, and SurgSim::Physics::Fem1DLocalization.
§ setRepresentation()
| void SurgSim::Physics::Localization::setRepresentation | ( | std::shared_ptr< Representation > | representation | ) |
Sets the representation.
- Parameters
-
representation The representation on which the localization is defined
The documentation for this class was generated from the following files:
- SurgSim/Physics/Localization.h
- SurgSim/Physics/Localization.cpp
