Implementation of Localization for MassSpringRepresentation. More...

#include <MassSpringLocalization.h>

Inheritance diagram for SurgSim::Physics::MassSpringLocalization:

Public Member Functions
	MassSpringLocalization ()
	Default constructor.

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

virtual	~MassSpringLocalization ()
	Destructor.

void	setLocalNode (size_t nodeID)
	Sets the local node. More...

const DataStructures::OptionalValue< size_t > &	getLocalNode () const
	Gets the local node. More...

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

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

bool	isValidRepresentation (std::shared_ptr< Representation > representation) override
	Queries whether Representation can be assigned to this class. More...

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

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

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 MassSpringRepresentation.

MassSpringLocalization tracks the global coordinates of a node contained in an associated MassSpringRepresentation. It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in MassSpringRepresentationContact::doBuild, which constrains the motion of MassSpringRepresentation at a frictionless contact.

MassSpringLocalization stores a pointer to a MassSpringRepresentation in an abstract Representation object. It tracks either the ID of a node contained within the associated MassSpringRepresentation, or the barycentric coordinates of an element (1D, 2D, or 3D) in that MassSpringRepresentation, and it provides a helper function MassSpringLocalization::calculatePosition to find the position in global coordinates in the current state.

Constructor & Destructor Documentation

§ MassSpringLocalization()

SurgSim::Physics::MassSpringLocalization::MassSpringLocalization ( std::shared_ptr< Representation > representation )

explicit

Constructor.

Parameters

representation The representation to assign to this localization.

Member Function Documentation

§ doCopy()

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

overridevirtual

Returns: A copy.

Implements SurgSim::Physics::Localization.

§ getLocalNode()

const DataStructures::OptionalValue< size_t > & SurgSim::Physics::MassSpringLocalization::getLocalNode ( ) const

Gets the local node.

Returns: Node set for this localization.

§ getLocalPosition()

const DataStructures::OptionalValue< DataStructures::IndexedLocalCoordinate > & SurgSim::Physics::MassSpringLocalization::getLocalPosition ( ) const

Gets the local position.

Returns: The local position set for this localization.

§ isValidRepresentation()

bool SurgSim::Physics::MassSpringLocalization::isValidRepresentation ( std::shared_ptr< Representation > representation )

overridevirtual

Queries whether Representation can be assigned to this class.

Parameters

representation Representation to check.

Returns: true if Representation is valid.

Reimplemented from SurgSim::Physics::Localization.

§ moveClosestTo()

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

overridevirtual

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 from SurgSim::Physics::Localization.

§ setLocalNode()

void SurgSim::Physics::MassSpringLocalization::setLocalNode ( size_t nodeID )

Sets the local node.

Parameters

nodeID Node set for this localization.

§ setLocalPosition()

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

Sets the local position.

Parameters

localPosition The local position to set the localization at.

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

SurgSim/Physics/MassSpringLocalization.h
SurgSim/Physics/MassSpringLocalization.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

§ MassSpringLocalization()

Member Function Documentation

§ doCopy()

§ getLocalNode()

§ getLocalPosition()

§ isValidRepresentation()

§ moveClosestTo()

§ setLocalNode()

§ setLocalPosition()