SurgSim::Physics::RigidRepresentation Class Reference

The RigidRepresentation class defines the dynamic rigid body representation Note that the rigid representation is velocity-based, therefore its degrees of freedom are the linear and angular velocities: 6 Dof. More...

#include <RigidRepresentation.h>

Inheritance diagram for SurgSim::Physics::RigidRepresentation:

Public Member Functions
	RigidRepresentation (const std::string &name)
	Constructor. More...
virtual	~RigidRepresentation ()
	Destructor.
	SURGSIM_CLASSNAME (SurgSim::Physics::RigidRepresentation)
void	setLinearVelocity (const SurgSim::Math::Vector3d &linearVelocity)
	Set the current linear velocity of the rigid representation. More...
void	setAngularVelocity (const SurgSim::Math::Vector3d &angularVelocity)
	Set the current angular velocity of the rigid representation. More...
void	addExternalGeneralizedForce (const SurgSim::Math::Vector6d &generalizedForce, const SurgSim::Math::Matrix66d &K=SurgSim::Math::Matrix66d::Zero(), const SurgSim::Math::Matrix66d &D=SurgSim::Math::Matrix66d::Zero())
	Add an external generalized force applied to the rigid representation's mass center. More...
void	addExternalGeneralizedForce (const SurgSim::DataStructures::Location &location, const SurgSim::Math::Vector6d &generalizedForce, const SurgSim::Math::Matrix66d &K=SurgSim::Math::Matrix66d::Zero(), const SurgSim::Math::Matrix66d &D=SurgSim::Math::Matrix66d::Zero())
	Add an external generalized force applied to the rigid representation (anywhere). More...
SurgSim::DataStructures::BufferedValue< SurgSim::Math::Vector6d > &	getExternalGeneralizedForce ()
const SurgSim::Math::Matrix66d &	getExternalGeneralizedStiffness () const
const SurgSim::Math::Matrix66d &	getExternalGeneralizedDamping () const
void	beforeUpdate (double dt) override
	Preprocessing done before the update call This needs to be called from the outside usually from a Computation. More...
void	update (double dt) override
	Update the representation state to the current time step. More...
void	afterUpdate (double dt) override
	Postprocessing done after the update call This needs to be called from the outside usually from a Computation. More...
void	applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity) override
	Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...
const SurgSim::Math::Matrix66d &	getComplianceMatrix () const
	Retrieve the rigid body 6x6 compliance matrix. More...
Public Member Functions inherited from SurgSim::Physics::RigidRepresentationBase
	RigidRepresentationBase (const std::string &name)
	Constructor. More...
virtual	~RigidRepresentationBase ()
	Destructor.
void	setInitialState (const RigidState &state)
	Set the initial state of the rigid representation. More...
void	resetState () override
	Reset the representation to its initial/default state.
const RigidState &	getInitialState () const
	Get the initial state of the rigid representation. More...
const RigidState &	getCurrentState () const
	Get the current state of the rigid representation. More...
const RigidState &	getPreviousState () const
	Get the previous state of the rigid representation. More...
std::shared_ptr< Localization >	createLocalization (const SurgSim::DataStructures::Location &location) override
	Computes a localized coordinate w.r.t this representation, given a Location object. More...
void	setDensity (double rho)
	Set the mass density of the rigid representation. More...
double	getDensity () const
	Get the mass density of the rigid representation. More...
double	getMass () const
	Get the mass of the rigid body. More...
const SurgSim::Math::Vector3d &	getMassCenter () const
	Get the mass center of the rigid body. More...
const SurgSim::Math::Matrix33d &	getLocalInertia () const
	Get the local inertia 3x3 matrix of the rigid body. More...
void	setLinearDamping (double linearDamping)
	Set the linear damping parameter. More...
double	getLinearDamping () const
	Get the linear damping parameter. More...
void	setAngularDamping (double angularDamping)
	Set the angular damping parameter. More...
double	getAngularDamping () const
	Get the angular damping parameter. More...
void	setShape (const std::shared_ptr< SurgSim::Math::Shape > shape)
	Set the shape to use internally for physical parameters computation. More...
const std::shared_ptr< SurgSim::Math::Shape >	getShape () const
	Get the shape used internally for physical parameters computation. More...
void	setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation) override
	Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation. More...
void	beforeUpdate (double dt) override
	Preprocessing done before the update call This needs to be called from the outside usually from a Computation. More...
void	afterUpdate (double dt) override
	Postprocessing done after the update call This needs to be called from the outside usually from a Computation. More...
Public Member Functions inherited from SurgSim::Physics::Representation
	Representation (const std::string &name)
	Constructor. More...
virtual	~Representation ()
	Destructor.
size_t	getNumDof () const
	Query the object number of degrees of freedom. More...
void	setIsGravityEnabled (bool isGravityEnabled)
	Set the gravity enable flag. More...
bool	isGravityEnabled () const
	Get the gravity enable flag. More...
void	setIsDrivingSceneElementPose (bool isDrivingSceneElementPose)
	Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...
bool	isDrivingSceneElementPose ()
	Query if this Representation is controlling the pose of the SceneElement that it is part of. More...
std::shared_ptr< SurgSim::Collision::Representation >	getCollisionRepresentation () const
std::shared_ptr< ConstraintImplementation >	getConstraintImplementation (SurgSim::Physics::ConstraintType type)
	Get a constraint implementation of the given type for this representation. More...
Public Member Functions inherited from SurgSim::Framework::Representation
	Representation (const std::string &name)
	Constructor. More...
virtual void	setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
	Set the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d	getLocalPose () const
	Get the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d	getPose () const
	Get the pose of the representation in world coordinates. More...
Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...
virtual	~Component ()
	Destructor.
std::string	getName () const
	Gets component name. More...
std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...
void	setName (const std::string &name)
	Sets the name of component. More...
boost::uuids::uuid	getUuid () const
	Gets the id of the component.
bool	isInitialized () const
bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...
bool	isAwake () const
bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...
void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...
std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...
void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...
std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...
std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...
std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...
virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...
virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing.
bool	isActive () const
virtual void	setLocalActive (bool val)
	Set the component's active state. More...
bool	isLocalActive () const
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 Attributes
SurgSim::Math::Matrix33d	m_globalInertia
	Inertia matrices in global coordinates.
SurgSim::Math::Matrix33d	m_invGlobalInertia
	Inverse of inertia matrix in global coordinates.
SurgSim::Math::Vector3d	m_force
	Current force applied on the rigid representation (in N)
SurgSim::Math::Vector3d	m_torque
	Current torque applied on the rigid representation (in N.m)
SurgSim::Math::Matrix66d	m_C
	Compliance matrix (size of the number of Dof = 6)
bool	m_hasExternalGeneralizedForce
	External generalized force, stiffness and damping applied on the rigid representation.
SurgSim::DataStructures::BufferedValue< SurgSim::Math::Vector6d >	m_externalGeneralizedForce
SurgSim::Math::Matrix66d	m_externalGeneralizedStiffness
SurgSim::Math::Matrix66d	m_externalGeneralizedDamping
Protected Attributes inherited from SurgSim::Physics::RigidRepresentationBase
RigidState	m_initialState
	Initial rigid representation state (useful for reset)
RigidState	m_previousState
	Previous rigid representation state.
RigidState	m_currentState
	Current rigid representation state.
RigidState	m_finalState
	Last valid/final rigid representation state.
bool	m_parametersValid
	Validity of the parameters.
double	m_rho
	Density of the object (in Kg.m-3)
double	m_mass
	Total mass of the object (in Kg)
double	m_linearDamping
	Linear damping parameter (in N.s.m-1 or Kg.s-1)
double	m_angularDamping
	Angular damping parameter (in N.m.s.rad-1)
SurgSim::Math::Vector3d	m_massCenter
	Mass-center of the object.
SurgSim::Math::Matrix33d	m_localInertia
	Inertia matrix in local coordinates.
std::shared_ptr< SurgSim::Math::Shape >	m_shape
	Shape to be used for the mass/inertia calculation.
Protected Attributes inherited from SurgSim::Physics::Representation
std::shared_ptr< SurgSim::Collision::Representation >	m_collisionRepresentation
	This entity's collision representation, these are usually very specific to the physics representation.
std::shared_ptr< SurgSim::Framework::Logger >	m_logger
	Logger for this class.

Additional Inherited Members
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::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()
Protected Member Functions inherited from SurgSim::Physics::RigidRepresentationBase
bool	doInitialize () override
	Interface to be implemented by derived classes. More...
bool	doWakeUp () override
	Interface to be implemented by derived classes. More...
template<class T >
std::shared_ptr< T >	createTypedLocalization (const SurgSim::DataStructures::Location &location)
	Creates typed localization. More...
Protected Member Functions inherited from SurgSim::Physics::Representation
void	setNumDof (size_t numDof)
	Set the number of degrees of freedom. More...
const SurgSim::Math::Vector3d &	getGravity () const
	Get the gravity used by this Representation. More...
void	driveSceneElementPose (const SurgSim::Math::RigidTransform3d &pose)
	This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true. More...
Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...
virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Detailed Description

The RigidRepresentation class defines the dynamic rigid body representation Note that the rigid representation is velocity-based, therefore its degrees of freedom are the linear and angular velocities: 6 Dof.

Constructor & Destructor Documentation

RigidRepresentation()

SurgSim::Physics::RigidRepresentation::RigidRepresentation ( const std::string &  name )

explicit

Constructor.

Parameters

name	The rigid representation's name

Member Function Documentation

addExternalGeneralizedForce() [1/2]

void SurgSim::Physics::RigidRepresentation::addExternalGeneralizedForce	(	const SurgSim::Math::Vector6d &	generalizedForce,
		const SurgSim::Math::Matrix66d &	K = SurgSim::Math::Matrix66d::Zero(),
		const SurgSim::Math::Matrix66d &	D = SurgSim::Math::Matrix66d::Zero()
	)

Add an external generalized force applied to the rigid representation's mass center.

Note

This force is generalized (i.e. it's a 6D vector, containing both 3D force and 3D torque).

The stiffness and damping are 6x6 matrices with coupling between the translational and rotation dof.

All external generalized forces will be zeroed every afterUpdate call of the rigid representation.

Parameters

generalizedForce	The external generalized force to apply at the mass center
K	The stiffness matrix associated with the generalized force (jacobian of the force w.r.t position)
D	The damping matrix associated with the generalized force (jacobian of the force w.r.t velocity)

addExternalGeneralizedForce() [2/2]

void SurgSim::Physics::RigidRepresentation::addExternalGeneralizedForce	(	const SurgSim::DataStructures::Location &	location,
		const SurgSim::Math::Vector6d &	generalizedForce,
		const SurgSim::Math::Matrix66d &	K = SurgSim::Math::Matrix66d::Zero(),
		const SurgSim::Math::Matrix66d &	D = SurgSim::Math::Matrix66d::Zero()
	)

Add an external generalized force applied to the rigid representation (anywhere).

Note

This force is generalized (i.e. it's a 6D vector, containing both 3D force and 3D torque).

The stiffness and damping are 6x6 matrices with coupling between the translational and rotation dof.

All external generalized forces will be zeroed every afterUpdate call of the rigid representation.

Parameters

location	The application point (must contain a rigid local position)
generalizedForce	The external generalized force
K	The stiffness matrix associated with generalizedForce (jacobian w.r.t position)
D	The damping matrix associated with generalizedForce (jacobian w.r.t velocity)

The location produces an extra torque and extra terms in the derivatives (stiffness/damping matrices) coming from this extra torque.
Let's note the position dof ( \(\mathbf{C}\), \(\mathbf{W}\)) and the velocity dof ( \(\mathbf{v}\), \(\mathbf{w}\)), and \(R\) the 3x3 rotation matrix dependent on \(\mathbf{W}\). The force ( \(\mathbf{F}\)) applied on a point ( \(\mathbf{P}\)) that is not the mass center ( \(\mathbf{C}\)), produces a torque ( \(\mathbf{T}\)) and also affect matrix derivatives ( \(K\) and \(D\)) as follow:

\[ \mathbf{T} = \mathbf{CP} \wedge \mathbf{F} \]

Note that \(\mathbf{CP}\) does not depend on the velocity (neither \(\mathbf{v}\) nor \(\mathbf{w}\), therefore the damping matrix is affected by the terms:

\[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{v}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{v}} = \mathbf{CP} \wedge D_{3 \times 3}^{(0, 0)} \]

\[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{w}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{w}} = \mathbf{CP} \wedge D_{3 \times 3}^{(0, 3)} \]

Also note that \(\mathbf{CP}\) does not change if the rigid translate ( \(\mathbf{C}\) changes), but it changes if the rotation of the rigid changes ( \(\mathbf{W}\) changes => \(R\) changes).
Therefore \(\mathbf{CP}\) is a constant vector in the rigid local space \( \mathbf{CP} = R.\mathbf{CP_{local}} \) and its derivative w.r.t. \(\mathbf{C}\) is null and we get:

\[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{C}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{C}} = \mathbf{CP} \wedge K_{3 \times 3}^{(0,0)} \]

\[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{W}} = -\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} \wedge \mathbf{F} - \mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{W}} = -\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} \wedge \mathbf{F} + \mathbf{CP} \wedge K_{3 \times 3}^{(0, 3)} \]

To compute \(\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} = \frac{\partial R}{\partial \mathbf{W}}.\mathbf{CP}_{local}\), we operate a variable change, from the rotation vector \(\mathbf{W}\) to angle/axis ( \(\theta\), \(\mathbf{u}\)) representation (4 dof):

\[ \left\{ \begin{eqnarray*} \theta = |\mathbf{W}| \\ \mathbf{u} = \frac{\mathbf{W}}{|\mathbf{W}|} \end{eqnarray*} \right. \]

In this new coordinate system, we have (see reference http://en.wikipedia.org/wiki/Rotation_matrix):

\[ R(\theta, \mathbf{u}) = cos(\theta).I + sin(\theta).\left[\mathbf{u}\right] + (1-cos(\theta)).\mathbf{u} \otimes \mathbf{u} \]

where \(\left[\mathbf{u}\right]\) denotes the skew symmetric matrix of the vector \(\mathbf{u}\), \(\left[\mathbf{u}\right] = \left( \begin{array}{ccc} 0 & -u^z & u^y \\ u^z & 0 & -u^x \\ -u^y & u^x & 0 \end{array} \right)\) and \(\mathbf{u} \otimes \mathbf{u}\) the tensor product: \(\left(\mathbf{u} \otimes \mathbf{u}^T\right)_{ij} = u^i * u^j\).

Applying the chain derivation rule, we get:

\[ \frac{\partial R}{\partial W^{\alpha}} = \frac{\partial R}{\partial \theta}.\frac{\partial \theta}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^x}.\frac{\partial u^x}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^y}.\frac{\partial u^y}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^z}.\frac{\partial u^z}{\partial W^{\alpha}} \]

with

\[ \frac{\partial R}{\partial \theta} = -sin(\theta).I + cos(\theta).\left[\mathbf{u}\right] + sin(\theta).\mathbf{u} \otimes \mathbf{u} \]

\[ \frac{\partial R}{\partial u^x} = sin(\theta) \left( \begin{array}{ccc} 0 & 0 & 0 \\ 0 & 0 & -1 \\ 0 & 1 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 2u^x & u^y & u^z \\ u^y & 0 & 0 \\ u^z & 0 & 0 \end{array} \right) \]

\[ \frac{\partial R}{\partial u^y} = sin(\theta) \left( \begin{array}{ccc} 0 & 0 & 1 \\ 0 & 0 & 0 \\ -1 & 0 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 0 & u^x & 0 \\ u^x & 2u^y & u^z \\ 0 & u^z & 0 \end{array} \right) \]

\[ \frac{\partial R}{\partial u^z} = sin(\theta) \left( \begin{array}{ccc} 0 & -1 & 0 \\ 1 & 0 & 0 \\ 0 & 0 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 0 & 0 & u^x \\ 0 & 0 & u^y \\ u^x & u^y & 2u^z \end{array} \right) \]

and

\[ \frac{\partial \theta}{\partial W^{\alpha}} = \frac{W^{\alpha}}{|\mathbf{W}|} \]

\[ \frac{\partial u}{\partial W^{\alpha}} = \frac{1}{|\mathbf{W}|} . \left( \left( \begin{array}{c} \delta^{x,\alpha} \\ \delta^{y,\alpha} \\ \delta^{z,\alpha} \end{array} \right) - \frac{W^{\alpha}}{|\mathbf{W}|} \frac{\mathbf{W}}{|\mathbf{W}|} \right) \]

afterUpdate()

void SurgSim::Physics::RigidRepresentation::afterUpdate ( double  dt )

overridevirtual

Postprocessing done after the update call This needs to be called from the outside usually from a Computation.

Parameters

dt	The time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

applyCorrection()

void SurgSim::Physics::RigidRepresentation::applyCorrection ( double  dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &  deltaVelocity  )

overridevirtual

Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity.

This function typically is called in the physics pipeline (PhysicsManager::doUpdate) after solving the equations that enforce constraints when collisions occur. Specifically it is called in the PushResults::doUpdate step.

Parameters

dt	The time step
deltaVelocity	The block of a vector containing the correction to be applied to the velocity

Reimplemented from SurgSim::Physics::Representation.

beforeUpdate()

void SurgSim::Physics::RigidRepresentation::beforeUpdate ( double  dt )

overridevirtual

Preprocessing done before the update call This needs to be called from the outside usually from a Computation.

Parameters

dt	The time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

getComplianceMatrix()

const Eigen::Matrix< double, 6, 6, Eigen::RowMajor > & SurgSim::Physics::RigidRepresentation::getComplianceMatrix

(

)

const

Retrieve the rigid body 6x6 compliance matrix.

Returns

the 6x6 compliance matrix

getExternalGeneralizedDamping()

const SurgSim::Math::Matrix66d & SurgSim::Physics::RigidRepresentation::getExternalGeneralizedDamping

(

)

const

Returns

the current external generalized damping 6x6 matrix

getExternalGeneralizedForce()

SurgSim::DataStructures::BufferedValue< SurgSim::Math::Vector6d > & SurgSim::Physics::RigidRepresentation::getExternalGeneralizedForce

(

)

Returns

the current external generalized 6D force

getExternalGeneralizedStiffness()

const SurgSim::Math::Matrix66d & SurgSim::Physics::RigidRepresentation::getExternalGeneralizedStiffness

(

)

const

Returns

the current external generalized stiffness 6x6 matrix

setAngularVelocity()

void SurgSim::Physics::RigidRepresentation::setAngularVelocity

(

const SurgSim::Math::Vector3d &

angularVelocity

)

Set the current angular velocity of the rigid representation.

Parameters

angularVelocity

The angular velocity

setLinearVelocity()

void SurgSim::Physics::RigidRepresentation::setLinearVelocity

(

const SurgSim::Math::Vector3d &

linearVelocity

)

Set the current linear velocity of the rigid representation.

Parameters

linearVelocity

The linear velocity

update()

void SurgSim::Physics::RigidRepresentation::update ( double  dt )

overridevirtual

Update the representation state to the current time step.

Parameters

dt	The time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

---

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

• SurgSim/Physics/RigidRepresentation.h
• SurgSim/Physics/RigidRepresentation.cpp
• SurgSim/Physics/RigidRepresentation_addExternalGeneralizedForce.dox