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SurgSim::Physics::RigidRepresentationBase Class Referenceabstract

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

#include <SurgSim/Physics/RigidRepresentationBase.h>

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Public Member Functions

 RigidRepresentationBase (const std::string &name)
 Constructor. More...
 
virtual ~RigidRepresentationBase ()
 Destructor. More...
 
void setInitialState (const RigidRepresentationState &state)
 Set the initial state of the rigid representation. More...
 
void resetState ()
 Reset the rigid representation state to its initial state. More...
 
const RigidRepresentationStategetInitialState () const
 Get the initial state of the rigid representation. More...
 
const RigidRepresentationStategetCurrentState () const
 Get the current state of the rigid representation. More...
 
const RigidRepresentationStategetPreviousState () const
 Get the previous state of the rigid representation. More...
 
std::shared_ptr< LocalizationcreateLocalization (const SurgSim::DataStructures::Location &location)
 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::Vector3dgetMassCenter () const
 Get the mass center of the rigid body. More...
 
const SurgSim::Math::Matrix33dgetLocalInertia () 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...
 
virtual 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...
 
virtual void beforeUpdate (double dt) override
 Preprocessing done before the update call This needs to be called from the outside usually from a Computation. More...
 
virtual 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. More...
 
virtual RepresentationType getType () const =0
 Query the representation type. 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 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
 
- 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

virtual bool doInitialize () override
 Interface to be implemented by derived classes. More...
 
virtual 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::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

RigidRepresentationState m_initialState
 Initial rigid representation state (useful for reset) More...
 
RigidRepresentationState m_previousState
 Previous rigid representation state. More...
 
RigidRepresentationState m_currentState
 Current rigid representation state. More...
 
RigidRepresentationState m_finalState
 Last valid/final rigid representation state. More...
 
bool m_parametersValid
 Validity of the parameters. More...
 
double m_rho
 Density of the object (in Kg.m-3) More...
 
double m_mass
 Total mass of the object (in Kg) More...
 
double m_linearDamping
 Linear damping parameter (in N.s.m-1 or Kg.s-1) More...
 
double m_angularDamping
 Angular damping parameter (in N.m.s.rad-1) More...
 
SurgSim::Math::Vector3d m_massCenter
 Mass-center of the object. More...
 
SurgSim::Math::Matrix33d m_localInertia
 Inertia matrix in local coordinates. More...
 
std::shared_ptr
< SurgSim::Math::Shape
m_shape
 Shape to be used for the mass/inertia calculation. More...
 
- 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. More...
 

Private Member Functions

void updateProperties ()
 Updates mass, mass center and inertia when density and/or shape used for mass inertia is updated. More...
 
virtual void updateGlobalInertiaMatrices (const RigidRepresentationState &state)=0
 

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

Constructor & Destructor Documentation

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

Constructor.

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

Destructor.

Member Function Documentation

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
dtThe time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

Reimplemented in SurgSim::Physics::RigidRepresentation.

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
dtThe time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

Reimplemented in SurgSim::Physics::RigidRepresentation.

std::shared_ptr< Localization > SurgSim::Physics::RigidRepresentationBase::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 from SurgSim::Physics::Representation.

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

Creates typed localization.

Template Parameters
TType of localization to create.
Parameters
locationThe location for the localization.
Returns
The new Localization;
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.

Reimplemented in SurgSim::Physics::RigidRepresentation.

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.

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

Get the angular damping parameter.

Returns
The angular damping parameter (in N.m.s.rad-1)
const RigidRepresentationState & SurgSim::Physics::RigidRepresentationBase::getCurrentState ( ) const

Get the current state of the rigid representation.

Returns
The current state (pose + lin/ang velocities)
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)
const RigidRepresentationState & SurgSim::Physics::RigidRepresentationBase::getInitialState ( ) const

Get the initial state of the rigid representation.

Returns
The initial state (pose + lin/ang velocities)
double SurgSim::Physics::RigidRepresentationBase::getLinearDamping ( ) const

Get the linear damping parameter.

Returns
The linear damping parameter (in N.s.m-1)
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
double SurgSim::Physics::RigidRepresentationBase::getMass ( ) const

Get the mass of the rigid body.

Returns
The mass (in Kg)
const SurgSim::Math::Vector3d & SurgSim::Physics::RigidRepresentationBase::getMassCenter ( ) const

Get the mass center of the rigid body.

Returns
The mass center (in local coordinate)
const RigidRepresentationState & SurgSim::Physics::RigidRepresentationBase::getPreviousState ( ) const

Get the previous state of the rigid representation.

Returns
The previous state (pose + lin/ang velocities)
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
void SurgSim::Physics::RigidRepresentationBase::resetState ( )
virtual

Reset the rigid representation state to its initial state.

Reimplemented from SurgSim::Physics::Representation.

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

Set the angular damping parameter.

Parameters
angularDampingThe angular damping parameter (in N.m.s.rad-1)
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
representationThe collision representation to be used.

Reimplemented from SurgSim::Physics::Representation.

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

Set the mass density of the rigid representation.

Parameters
rhoThe density (in Kg.m-3)
void SurgSim::Physics::RigidRepresentationBase::setInitialState ( const RigidRepresentationState state)

Set the initial state of the rigid representation.

Parameters
stateThe initial state (pose + lin/ang velocities) This will also set the current/previous states to the initial state
void SurgSim::Physics::RigidRepresentationBase::setLinearDamping ( double  linearDamping)

Set the linear damping parameter.

Parameters
linearDampingThe linear damping parameter (in N.s.m-1)
void SurgSim::Physics::RigidRepresentationBase::setShape ( const std::shared_ptr< SurgSim::Math::Shape shape)

Set the shape to use internally for physical parameters computation.

Parameters
shapeThe shape to use for the mass/inertia calculation
Note
Also add the shape to the shape list if it has not been added yet
virtual void SurgSim::Physics::RigidRepresentationBase::updateGlobalInertiaMatrices ( const RigidRepresentationState state)
privatepure virtual
void SurgSim::Physics::RigidRepresentationBase::updateProperties ( )
private

Updates mass, mass center and inertia when density and/or shape used for mass inertia is updated.

Member Data Documentation

double SurgSim::Physics::RigidRepresentationBase::m_angularDamping
protected

Angular damping parameter (in N.m.s.rad-1)

RigidRepresentationState SurgSim::Physics::RigidRepresentationBase::m_currentState
protected

Current rigid representation state.

RigidRepresentationState SurgSim::Physics::RigidRepresentationBase::m_finalState
protected

Last valid/final rigid representation state.

RigidRepresentationState SurgSim::Physics::RigidRepresentationBase::m_initialState
protected

Initial rigid representation state (useful for reset)

double SurgSim::Physics::RigidRepresentationBase::m_linearDamping
protected

Linear damping parameter (in N.s.m-1 or Kg.s-1)

SurgSim::Math::Matrix33d SurgSim::Physics::RigidRepresentationBase::m_localInertia
protected

Inertia matrix in local coordinates.

double SurgSim::Physics::RigidRepresentationBase::m_mass
protected

Total mass of the object (in Kg)

SurgSim::Math::Vector3d SurgSim::Physics::RigidRepresentationBase::m_massCenter
protected

Mass-center of the object.

bool SurgSim::Physics::RigidRepresentationBase::m_parametersValid
protected

Validity of the parameters.

RigidRepresentationState SurgSim::Physics::RigidRepresentationBase::m_previousState
protected

Previous rigid representation state.

double SurgSim::Physics::RigidRepresentationBase::m_rho
protected

Density of the object (in Kg.m-3)

std::shared_ptr<SurgSim::Math::Shape> SurgSim::Physics::RigidRepresentationBase::m_shape
protected

Shape to be used for the mass/inertia calculation.


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