The RigidState class describes a state (position and velocity information). More...

#include <RigidState.h>

Inheritance diagram for SurgSim::Physics::RigidState:

Public Member Functions
	RigidState ()
	Default constructor.

	RigidState (const RigidState &rhs)
	Default constructor.

RigidState &	operator= (const RigidState &rhs)
	Copy assignment. More...

virtual	~RigidState ()
	Destructor.

	SURGSIM_CLASSNAME (SurgSim::Physics::RigidState)

bool	operator== (const RigidState &rhs) const
	Comparison operator. More...

bool	operator!= (const RigidState &rhs) const
	Comparison operator. More...

void	reset ()
	Reset the state to default values Vectors will be filled with 0 Rotations will be set to identity (quaternion or matrix type) If you want to reset to initial values, you need to save them separately in another RigidState and assign it to this instance. More...

const SurgSim::Math::Vector3d &	getLinearVelocity () const
	Get the linear velocity. More...

const SurgSim::Math::Vector3d &	getAngularVelocity () const
	Get the angular velocity. More...

void	setLinearVelocity (const SurgSim::Math::Vector3d &v)
	Set the linear velocity. More...

void	setAngularVelocity (const SurgSim::Math::Vector3d &w)
	Set the angular velocity. More...

void	setPose (const SurgSim::Math::RigidTransform3d &pose)
	Set the rigid representation pose. More...

const SurgSim::Math::RigidTransform3d &	getPose () const
	Get the rigid representation pose. 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

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

Detailed Description

The RigidState class describes a state (position and velocity information).

Member Function Documentation

§ getAngularVelocity()

const SurgSim::Math::Vector3d & SurgSim::Physics::RigidState::getAngularVelocity ( ) const

Get the angular velocity.

Returns: the angular velocity

§ getLinearVelocity()

const SurgSim::Math::Vector3d & SurgSim::Physics::RigidState::getLinearVelocity ( ) const

Get the linear velocity.

Returns: the linear velocity

§ getPose()

const SurgSim::Math::RigidTransform3d & SurgSim::Physics::RigidState::getPose ( ) const

Get the rigid representation pose.

Returns: A constant reference to the pose (read only)

§ operator!=()

bool SurgSim::Physics::RigidState::operator!= ( const RigidState & rhs ) const

Comparison operator.

Parameters

rhs	A RigidState to compare it to

Returns: False if the 2 states are equals, True otherwise

§ operator=()

RigidState & SurgSim::Physics::RigidState::operator= ( const RigidState & rhs )

Copy assignment.

Parameters

rhs	Right hand side RigidState from which data are copied.

Note: 'm_functors' in base class Accessible is NOT copied.

§ operator==()

bool SurgSim::Physics::RigidState::operator== ( const RigidState & rhs ) const

Comparison operator.

Parameters

rhs	A RigidState to compare it to

Returns: True if the 2 states are equals, False otherwise

§ reset()

void SurgSim::Physics::RigidState::reset ( )

Reset the state to default values Vectors will be filled with 0 Rotations will be set to identity (quaternion or matrix type) If you want to reset to initial values, you need to save them separately in another RigidState and assign it to this instance.

§ setAngularVelocity()

void SurgSim::Physics::RigidState::setAngularVelocity ( const SurgSim::Math::Vector3d & w )

Set the angular velocity.

Parameters

w	The angular velocity

§ setLinearVelocity()

void SurgSim::Physics::RigidState::setLinearVelocity ( const SurgSim::Math::Vector3d & v )

Set the linear velocity.

Parameters

v	The linear velocity

§ setPose()

void SurgSim::Physics::RigidState::setPose ( const SurgSim::Math::RigidTransform3d & pose )

Set the rigid representation pose.

Parameters

pose	The pose to set the rigid representation to

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

SurgSim/Physics/RigidState.h
SurgSim/Physics/RigidState.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

§ getAngularVelocity()

§ getLinearVelocity()

§ getPose()

§ operator!=()

§ operator=()

§ operator==()

§ reset()

§ setAngularVelocity()

§ setLinearVelocity()

§ setPose()