The RigidRepresentationBase class defines the base class for all rigid motion based representations (fixed, rigid body, rigid body + vtc,...) More...

#include <RigidRepresentationBase.h>

Inheritance diagram for SurgSim::Physics::RigidRepresentationBase:

Public Member Functions
	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...

virtual void	update (double dt)
	Update the representation state to the current time step. More...

virtual void	applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity)
	Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. 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 Member Functions
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...

Protected Attributes
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 ()

Detailed Description

The RigidRepresentationBase class defines the base class for all rigid motion based representations (fixed, rigid body, rigid body + vtc,...)

Constructor & Destructor Documentation

§ RigidRepresentationBase()

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

explicit

Constructor.

Parameters

name	The rigid representation's name

Member Function Documentation

§ afterUpdate()

void SurgSim::Physics::RigidRepresentationBase::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.

§ beforeUpdate()

void SurgSim::Physics::RigidRepresentationBase::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.

§ createLocalization()

std::shared_ptr< Localization > SurgSim::Physics::RigidRepresentationBase::createLocalization ( const SurgSim::DataStructures::Location & location )

overridevirtual

Computes a localized coordinate w.r.t this representation, given a Location object.

Parameters

location A location in 3d space.

Returns: A localization object for the given location.

Reimplemented from SurgSim::Physics::Representation.

§ createTypedLocalization()

template<class T >

std::shared_ptr< T > SurgSim::Physics::RigidRepresentationBase::createTypedLocalization ( const SurgSim::DataStructures::Location & location )

protected

Creates typed localization.

Template Parameters

T	Type of localization to create.

Parameters

location The location for the localization.

Returns: The new Localization;

§ doInitialize()

bool SurgSim::Physics::RigidRepresentationBase::doInitialize ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns: True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

§ doWakeUp()

bool SurgSim::Physics::RigidRepresentationBase::doWakeUp ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns: True if component is woken up successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

§ getAngularDamping()

double SurgSim::Physics::RigidRepresentationBase::getAngularDamping ( ) const

Get the angular damping parameter.

Returns: The angular damping parameter (in N.m.s.rad-1)

§ getCurrentState()

const RigidState & SurgSim::Physics::RigidRepresentationBase::getCurrentState ( ) const

Get the current state of the rigid representation.

Returns: The current state (pose + lin/ang velocities)

§ getDensity()

double SurgSim::Physics::RigidRepresentationBase::getDensity ( ) const

Get the mass density of the rigid representation.

Returns: The density if it has been provided, 0 otherwise (in Kg.m-3)

§ getInitialState()

const RigidState & SurgSim::Physics::RigidRepresentationBase::getInitialState ( ) const

Get the initial state of the rigid representation.

Returns: The initial state (pose + lin/ang velocities)

§ getLinearDamping()

double SurgSim::Physics::RigidRepresentationBase::getLinearDamping ( ) const

Get the linear damping parameter.

Returns: The linear damping parameter (in N.s.m-1)

§ getLocalInertia()

const SurgSim::Math::Matrix33d & SurgSim::Physics::RigidRepresentationBase::getLocalInertia ( ) const

Get the local inertia 3x3 matrix of the rigid body.

Returns: The inertia 3x3 matrix of the object

§ getMass()

double SurgSim::Physics::RigidRepresentationBase::getMass ( ) const

Get the mass of the rigid body.

Returns: The mass (in Kg)

§ getMassCenter()

const SurgSim::Math::Vector3d & SurgSim::Physics::RigidRepresentationBase::getMassCenter ( ) const

Get the mass center of the rigid body.

Returns: The mass center (in local coordinate)

§ getPreviousState()

const RigidState & SurgSim::Physics::RigidRepresentationBase::getPreviousState ( ) const

Get the previous state of the rigid representation.

Returns: The previous state (pose + lin/ang velocities)

§ getShape()

const std::shared_ptr< SurgSim::Math::Shape > SurgSim::Physics::RigidRepresentationBase::getShape ( ) const

Get the shape used internally for physical parameters computation.

Returns: The shape used for calculation, nullptr if none exist

§ setAngularDamping()

void SurgSim::Physics::RigidRepresentationBase::setAngularDamping ( double angularDamping )

Set the angular damping parameter.

Parameters

angularDamping The angular damping parameter (in N.m.s.rad-1)

§ setCollisionRepresentation()

void SurgSim::Physics::RigidRepresentationBase::setCollisionRepresentation ( std::shared_ptr< SurgSim::Collision::Representation > representation )

overridevirtual

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.

Specializes to register this representation in the collision representation if the collision representation is a RigidCollisionRepresentation.

Parameters

representation The collision representation to be used.

Reimplemented from SurgSim::Physics::Representation.

§ setDensity()

void SurgSim::Physics::RigidRepresentationBase::setDensity ( double rho )

Set the mass density of the rigid representation.

Parameters

rho	The density (in Kg.m-3)

§ setInitialState()

void SurgSim::Physics::RigidRepresentationBase::setInitialState ( const RigidState & state )

Set the initial state of the rigid representation.

Parameters

state The initial state (pose + lin/ang velocities) This will also set the current/previous states to the initial state

§ setLinearDamping()

void SurgSim::Physics::RigidRepresentationBase::setLinearDamping ( double linearDamping )

Set the linear damping parameter.

Parameters

linearDamping The linear damping parameter (in N.s.m-1)

§ setShape()

void SurgSim::Physics::RigidRepresentationBase::setShape ( const std::shared_ptr< SurgSim::Math::Shape > shape )

Set the shape to use internally for physical parameters computation.

Parameters

shape The shape to use for the mass/inertia calculation

Note: Also add the shape to the shape list if it has not been added yet

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

SurgSim/Physics/RigidRepresentationBase.h
SurgSim/Physics/RigidRepresentationBase-inl.h
SurgSim/Physics/RigidRepresentationBase.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ RigidRepresentationBase()

Member Function Documentation

§ afterUpdate()

§ beforeUpdate()

§ createLocalization()

§ createTypedLocalization()

§ doInitialize()

§ doWakeUp()

§ getAngularDamping()

§ getCurrentState()

§ getDensity()

§ getInitialState()

§ getLinearDamping()

§ getLocalInertia()

§ getMass()

§ getMassCenter()

§ getPreviousState()

§ getShape()

§ setAngularDamping()

§ setCollisionRepresentation()

§ setDensity()

§ setInitialState()

§ setLinearDamping()

§ setShape()