Base class for a data structure for holding MassSpring mesh data. More...

#include <MassSpringModel.h>

Inheritance diagram for SurgSim::Physics::MassSpringModel:

Public Member Functions
	MassSpringModel ()
	Default constructor.

	SURGSIM_CLASSNAME (SurgSim::Physics::MassSpringModel)

void	addMass (const std::shared_ptr< Mass > mass)
	Adds a mass. More...

void	addSpring (const std::shared_ptr< Spring > spring)
	Adds a spring, and sets its rest length. More...

size_t	getNumMasses () const
	Gets the number of masses. More...

size_t	getNumSprings () const
	Gets the number of springs. More...

const std::vector< std::shared_ptr< Mass > > &	getMasses () const
	Retrieves the masses.

const std::vector< std::shared_ptr< Spring > > &	getSprings () const
	Retrieves a given spring from its id. More...

const std::shared_ptr< Mass > &	getMass (size_t nodeId) const
	Retrieves the mass of a given node. More...

const std::shared_ptr< Spring > &	getSpring (size_t springId) const
	Retrieves a given spring from its id. More...

size_t	addBoundaryCondition (size_t boundaryCondition)
	Add boundary condition to mesh. More...

const std::vector< size_t > &	getBoundaryConditions () const
	Gets entire vector of boundary conditions. More...

std::vector< size_t > &	getBoundaryConditions ()
	Gets entire vector of boundary conditions (non-const) More...

size_t	getBoundaryCondition (size_t id) const
	Retrieves a specific boundary condition. More...

size_t	addElement (const std::vector< size_t > &nodeIds)
	Stores an element's node ids, e.g., for a 2d shape this may store triangle nodes. More...

const std::vector< size_t > &	getNodeIds (size_t index) const
	Get an element's node ids. More...

size_t	getNumElements () const

size_t	getNumNodesPerElement () const

void	setRadius (double radius)

const DataStructures::OptionalValue< double > &	getRadius () const

void	setThickness (double thickness)

const DataStructures::OptionalValue< double > &	getThickness () const

bool	save (const std::string &fileName, double physicsLength=0.0) const
	Save the current MassSpring mesh to a ply file. More...

Public Member Functions inherited from SurgSim::DataStructures::Vertices< Mass >
	Vertices ()
	Constructor.

	Vertices (const Vertices< V > &other)
	Copy constructor when the template data is a different type In this case, no data will be copied. More...

Vertices< Mass > &	operator= (const Vertices< V > &other)
	Assignment when the template data is a different type In this case, no data will be copied. More...

virtual	~Vertices ()
	Destructor.

void	clear ()
	Clear mesh to return to an empty state (no vertices).

bool	update ()
	Performs any updates that are required when the vertices are modified. More...

size_t	addVertex (const VertexType &vertex)
	Adds a vertex to the mesh. More...

size_t	getNumVertices () const
	Returns the number of vertices in this mesh.

const VertexType &	getVertex (size_t id) const
	Returns the specified vertex.

VertexType &	getVertex (size_t id)
	Returns the specified vertex (non const version).

const std::vector< VertexType > &	getVertices () const
	Returns a vector containing the position of each vertex.

std::vector< VertexType > &	getVertices ()
	Returns a vector containing the position of each vertex (non const version).

void	setVertexPosition (size_t id, const SurgSim::Math::Vector3d &position)
	Sets the position of a vertex. More...

const SurgSim::Math::Vector3d &	getVertexPosition (size_t id) const
	Returns the position of a vertex. More...

void	setVertexPositions (const std::vector< SurgSim::Math::Vector3d > &positions, bool doUpdate=true)
	Sets the position of each vertex. More...

void	transform (const Math::RigidTransform3d &pose)
	Apply a rigid transform to each vertex. More...

bool	operator== (const Vertices &mesh) const
	Compares the mesh with another one (equality) More...

bool	operator!= (const Vertices &mesh) const
	Compares the mesh with another one (inequality) More...

Public Member Functions inherited from SurgSim::Framework::Asset
	Asset ()
	Constructor.

	Asset (const Asset &rhs)
	Copy Constructor.

virtual	~Asset ()
	Destructor.

void	load (const std::string &fileName, const SurgSim::Framework::ApplicationData &data)
	Load a file with given name using 'data' as look up path(s). More...

void	load (const std::string &fileName)
	Overloaded function using SurgSim::Framework::Runtime::getApplicationData() as look up path(s). More...

std::string	getFileName () const
	Return the name of file loaded by this class. More...

virtual std::string	getClassName () const =0
	Support serialization with a classname. More...

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
bool	doLoad (const std::string &filePath) override
	Derived classes will overwrite this method to do actual loading. More...

Protected Member Functions inherited from SurgSim::DataStructures::Vertices< Mass >
virtual void	doClearVertices ()
	Remove all vertices from the mesh.

virtual bool	isEqual (const Vertices &mesh) const
	Internal comparison of meshes of the same type: returns true if equal, false if not equal. More...

Protected Attributes
std::vector< std::shared_ptr< Mass > >	m_masses
	Masses.

std::vector< std::shared_ptr< Spring > >	m_springs
	Springs.

std::vector< size_t >	m_boundaryConditions
	Vector of vertex ids that have boundary conditions.

std::vector< std::vector< size_t > >	m_nodeIds
	The node ids for each element, e.g., for triangles it contains the three node ids for each triangle.

DataStructures::OptionalValue< double >	m_radius
	The radius, if any.

DataStructures::OptionalValue< double >	m_thickness
	The thickness, if any.

Additional Inherited Members
Public Types inherited from SurgSim::DataStructures::Vertices< Mass >
typedef Vertex< Mass >	VertexType
	Vertex type for convenience.

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::FactoryBase< Asset >
typedef ObjectFactory< Asset >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Asset >
static FactoryType &	getFactory ()

Detailed Description

Base class for a data structure for holding MassSpring mesh data.

Member Function Documentation

§ addBoundaryCondition()

size_t SurgSim::Physics::MassSpringModel::addBoundaryCondition ( size_t boundaryCondition )

Add boundary condition to mesh.

Parameters

boundaryCondition A vertex id that has a boundary condition

Returns: The new size of the vector of boundary conditions

§ addElement()

size_t SurgSim::Physics::MassSpringModel::addElement ( const std::vector< size_t > & nodeIds )

Stores an element's node ids, e.g., for a 2d shape this may store triangle nodes.

Parameters

ids	The vector of node ids (i.e., mass ids) for the new element.

Returns: The new size of the vector of elements.

§ addMass()

void SurgSim::Physics::MassSpringModel::addMass ( const std::shared_ptr< Mass > mass )

Adds a mass.

Parameters

mass	The mass to add to the representation

Note: Masses are kept in an ordered list, giving them an index; This mass will be associated with the node of same index in any associated OdeState

§ addSpring()

void SurgSim::Physics::MassSpringModel::addSpring ( const std::shared_ptr< Spring > spring )

Adds a spring, and sets its rest length.

Parameters

spring The spring to add to the representation

§ doLoad()

bool SurgSim::Physics::MassSpringModel::doLoad ( const std::string & filePath )

overrideprotectedvirtual

Derived classes will overwrite this method to do actual loading.

Note: This method is not required to do any check on the validity or the existence of the file.

Parameters

filePath Absolute path to the file.

Returns: True if loading is successful; Otherwise, false.

Implements SurgSim::Framework::Asset.

§ getBoundaryCondition()

size_t SurgSim::Physics::MassSpringModel::getBoundaryCondition ( size_t id ) const

Retrieves a specific boundary condition.

Parameters

id	The id of the boundary condition in the vector

Returns: The vertex id which has a boundary condition

§ getBoundaryConditions() [1/2]

const std::vector< size_t > & SurgSim::Physics::MassSpringModel::getBoundaryConditions ( ) const

Gets entire vector of boundary conditions.

Returns: A vector of boundary conditions

§ getBoundaryConditions() [2/2]

std::vector< size_t > & SurgSim::Physics::MassSpringModel::getBoundaryConditions ( )

Gets entire vector of boundary conditions (non-const)

Returns: A vector of boundary conditions

§ getMass()

const std::shared_ptr< Mass > & SurgSim::Physics::MassSpringModel::getMass ( size_t nodeId ) const

Retrieves the mass of a given node.

Parameters

nodeId The node id for which the mass is requested

Returns: the mass attribute of a node

Note: Out of range nodeId will raise an exception

§ getNodeIds()

const std::vector< size_t > & SurgSim::Physics::MassSpringModel::getNodeIds ( size_t index ) const

Get an element's node ids.

Parameters

index The index of the element.

Returns: The vector of node ids.

§ getNumElements()

size_t SurgSim::Physics::MassSpringModel::getNumElements ( ) const

Returns: The number of elements.

§ getNumMasses()

size_t SurgSim::Physics::MassSpringModel::getNumMasses ( ) const

Gets the number of masses.

Returns: the number of masses

§ getNumNodesPerElement()

size_t SurgSim::Physics::MassSpringModel::getNumNodesPerElement ( ) const

Returns: The number of nodes per element.

§ getNumSprings()

size_t SurgSim::Physics::MassSpringModel::getNumSprings ( ) const

Gets the number of springs.

Returns: the number of springs

§ getRadius()

const DataStructures::OptionalValue< double > & SurgSim::Physics::MassSpringModel::getRadius ( ) const

Returns: The radius.

§ getSpring()

const std::shared_ptr< Spring > & SurgSim::Physics::MassSpringModel::getSpring ( size_t springId ) const

Retrieves a given spring from its id.

Parameters

springId The spring id for which the spring is requested

Returns: the spring for the given springId

Note: Out of range springId will raise an exception

§ getSprings()

const std::vector< std::shared_ptr< Spring > > & SurgSim::Physics::MassSpringModel::getSprings ( ) const

Retrieves a given spring from its id.

Parameters

springId The spring id for which the spring is requested

Returns: the spring for the given springId

Note: The spring is returned with read/write access; Out of range springId will raise an exception

§ getThickness()

const DataStructures::OptionalValue< double > & SurgSim::Physics::MassSpringModel::getThickness ( ) const

Returns: The thickness.

§ save()

bool SurgSim::Physics::MassSpringModel::save	(	const std::string &	fileName,
		double	physicsLength = `0.0`
	)		const

Save the current MassSpring mesh to a ply file.

See MassSpringPlyReaderDelegate for the file structure.

Parameters

fileName	Name of the file for writing.
physicsLength	The radius or thickness (for 2 or 3-node elements), if not already in the MassSpringModel.

Returns: true if the file was written successfully.

§ setRadius()

void SurgSim::Physics::MassSpringModel::setRadius ( double radius )

Parameters

The	radius to set.

§ setThickness()

void SurgSim::Physics::MassSpringModel::setThickness ( double thickness )

Parameters

The	thickness to set.

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

SurgSim/Physics/MassSpringModel.h
SurgSim/Physics/MassSpringModel.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

§ addBoundaryCondition()

§ addElement()

§ addMass()

§ addSpring()

§ doLoad()

§ getBoundaryCondition()

§ getBoundaryConditions() [1/2]

§ getBoundaryConditions() [2/2]

§ getMass()

§ getNodeIds()

§ getNumElements()

§ getNumMasses()

§ getNumNodesPerElement()

§ getNumSprings()

§ getRadius()

§ getSpring()

§ getSprings()

§ getThickness()

§ save()

§ setRadius()

§ setThickness()