All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
SurgSim::Physics::Representation Class Referenceabstract

The Representation class defines the base class for all physics objects. More...

#include <SurgSim/Physics/Representation.h>

Inheritance diagram for SurgSim::Physics::Representation:
Inheritance graph
[legend]
Collaboration diagram for SurgSim::Physics::Representation:
Collaboration graph
[legend]

Public Member Functions

 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
virtual RepresentationType getType () const =0
 Query the representation type. More...
 
virtual void resetState ()
 Reset the representation to its initial/default state. More...
 
virtual void resetParameters ()
 Reset the representation parameters to their initial/default values. More...
 
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 beforeUpdate (double dt)
 Preprocessing done before the update call This needs to be called from the outside usually from a Computation. More...
 
virtual void update (double dt)
 Update the representation state to the current time step. More...
 
virtual void afterUpdate (double dt)
 Postprocessing done after the update call This needs to be called from the outside usually from a Computation. More...
 
virtual std::shared_ptr
< Localization
createLocalization (const SurgSim::DataStructures::Location &location)
 Computes a localized coordinate w.r.t this representation, given a Location object. 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
 
virtual void setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation)
 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...
 
- 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. More...
 
std::string getName () const
 Gets component name. More...
 
void setName (const std::string &name)
 Sets the name of component. More...
 
boost::uuids::uuid getUuid () const
 Gets the id of the component. More...
 
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 setScene (std::weak_ptr< Scene > scene)
 Sets the scene. More...
 
std::shared_ptr< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const
SceneElement
getSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () 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< ComponentgetSharedPtr ()
 Gets a shared pointer to this component. More...
 
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. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class 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...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
void decode (const YAML::Node &node)
 Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
 
template<>
boost::any getValue (const std::string &name) const
 

Protected Member Functions

void setNumDof (size_t numDof)
 Set the number of degrees of freedom. More...
 
const SurgSim::Math::Vector3dgetGravity () 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

std::shared_ptr
< SurgSim::Collision::Representation
m_collisionRepresentation
 This entity's collision representation, these are usually very specific to the physics representation. More...
 

Private Member Functions

 Representation (const Representation &)
 NO copy constructor. More...
 
Representationoperator= (const Representation &)
 NO assignment operator. More...
 

Private Attributes

const SurgSim::Math::Vector3d m_gravity
 Gravity vector. More...
 
size_t m_numDof
 Number of degrees of freedom for this representation. More...
 
bool m_isGravityEnabled
 Gravity enabled flag. More...
 
bool m_isDrivingSceneElementPose
 Is this representation driving the sceneElement pose. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Component
typedef
SurgSim::Framework::ObjectFactory1
< SurgSim::Framework::Component,
std::string > 
FactoryType
 
- 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
 
- Static Public Member Functions inherited from SurgSim::Framework::Component
static FactoryTypegetFactory ()
 

Detailed Description

The Representation class defines the base class for all physics objects.

Constructor & Destructor Documentation

SurgSim::Physics::Representation::Representation ( const std::string &  name)
explicit

Constructor.

Parameters
nameThe representation's name
SurgSim::Physics::Representation::~Representation ( )
virtual

Destructor.

Reimplemented from SurgSim::Framework::Representation.

SurgSim::Physics::Representation::Representation ( const Representation )
private

NO copy constructor.

Member Function Documentation

void SurgSim::Physics::Representation::afterUpdate ( double  dt)
virtual

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

Parameters
dtThe time step (in seconds)

Reimplemented in SurgSim::Physics::RigidRepresentationBase, SurgSim::Physics::DeformableRepresentation, SurgSim::Physics::FemRepresentation, and SurgSim::Physics::RigidRepresentation.

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

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
dtThe time step
deltaVelocityThe block of a vector containing the correction to be applied to the velocity

Reimplemented in SurgSim::Physics::DeformableRepresentation, and SurgSim::Physics::RigidRepresentation.

void SurgSim::Physics::Representation::beforeUpdate ( double  dt)
virtual

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

Parameters
dtThe time step (in seconds)

Reimplemented in SurgSim::Physics::RigidRepresentationBase, SurgSim::Physics::MassSpringRepresentation, SurgSim::Physics::FemRepresentation, and SurgSim::Physics::RigidRepresentation.

std::shared_ptr< Localization > SurgSim::Physics::Representation::createLocalization ( const SurgSim::DataStructures::Location location)
virtual

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

Parameters
locationA location in 3d space.
Returns
A localization object for the given location.

Reimplemented in SurgSim::Physics::RigidRepresentationBase, and SurgSim::Physics::Fem3DRepresentation.

void SurgSim::Physics::Representation::driveSceneElementPose ( const SurgSim::Math::RigidTransform3d pose)
protected

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.

Parameters
poseNew pose for the SceneElement
std::shared_ptr< SurgSim::Collision::Representation > SurgSim::Physics::Representation::getCollisionRepresentation ( ) const
Returns
the collision representation for this physics representation.
const SurgSim::Math::Vector3d & SurgSim::Physics::Representation::getGravity ( ) const
protected

Get the gravity used by this Representation.

Returns
The gravity vector
size_t SurgSim::Physics::Representation::getNumDof ( ) const

Query the object number of degrees of freedom.

Returns
The number of degrees of freedom
virtual RepresentationType SurgSim::Physics::Representation::getType ( ) const
pure virtual
bool SurgSim::Physics::Representation::isDrivingSceneElementPose ( )

Query if this Representation is controlling the pose of the SceneElement that it is part of.

Returns
true if this Representation is controlling the pose of the SceneElement
bool SurgSim::Physics::Representation::isGravityEnabled ( ) const

Get the gravity enable flag.

Returns
true if gravity enabled, false if not.
Representation& SurgSim::Physics::Representation::operator= ( const Representation )
private

NO assignment operator.

void SurgSim::Physics::Representation::resetParameters ( )
virtual

Reset the representation parameters to their initial/default values.

void SurgSim::Physics::Representation::resetState ( )
virtual

Reset the representation to its initial/default state.

Reimplemented in SurgSim::Physics::DeformableRepresentation, and SurgSim::Physics::RigidRepresentationBase.

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

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.

Parameters
representationThe appropriate collision representation for this object.

Reimplemented in SurgSim::Physics::DeformableRepresentation, and SurgSim::Physics::RigidRepresentationBase.

void SurgSim::Physics::Representation::setIsDrivingSceneElementPose ( bool  isDrivingSceneElementPose)

Set whether this Representation is controlling the pose of the SceneElement that it is part of.

Parameters
isDrivingSceneElementPosetrue if this Representation is driving the pose of the SceneElement
void SurgSim::Physics::Representation::setIsGravityEnabled ( bool  isGravityEnabled)

Set the gravity enable flag.

Parameters
isGravityEnabledTrue if gravity enabled, false if not.
void SurgSim::Physics::Representation::setNumDof ( size_t  numDof)
protected

Set the number of degrees of freedom.

Parameters
numDofThe number of degrees of freedom
Note
protected so that nobody can change the number of DOF
except daughter classes
void SurgSim::Physics::Representation::update ( double  dt)
virtual

Update the representation state to the current time step.

Parameters
dtThe time step (in seconds)

Reimplemented in SurgSim::Physics::DeformableRepresentation, SurgSim::Physics::RigidRepresentation, and SurgSim::Physics::FixedRepresentation.

Member Data Documentation

std::shared_ptr<SurgSim::Collision::Representation> SurgSim::Physics::Representation::m_collisionRepresentation
protected

This entity's collision representation, these are usually very specific to the physics representation.

const SurgSim::Math::Vector3d SurgSim::Physics::Representation::m_gravity
private

Gravity vector.

bool SurgSim::Physics::Representation::m_isDrivingSceneElementPose
private

Is this representation driving the sceneElement pose.

bool SurgSim::Physics::Representation::m_isGravityEnabled
private

Gravity enabled flag.

size_t SurgSim::Physics::Representation::m_numDof
private

Number of degrees of freedom for this representation.


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