SurgSim::Physics::RigidRepresentationLocalization Class Reference

This class implement the localization on a RigidRepresentation, as a local position. More...

#include <SurgSim/Physics/RigidRepresentationLocalization.h>

Inheritance diagram for SurgSim::Physics::RigidRepresentationLocalization:

Public Member Functions
	RigidRepresentationLocalization ()
	Default constructor. More...
	RigidRepresentationLocalization (std::shared_ptr< Representation > representation)
	Constructor. More...
virtual	~RigidRepresentationLocalization ()
	Destructor. More...
void	setLocalPosition (const SurgSim::Math::Vector3d &p)
	Sets the local position. More...
const SurgSim::Math::Vector3d &	getLocalPosition () const
	Gets the local position. More...
virtual bool	isValidRepresentation (std::shared_ptr< Representation > representation) override
	Query if 'representation' is valid representation. More...
Public Member Functions inherited from SurgSim::Physics::Localization
	Localization ()
	Default constructor. More...
	Localization (std::shared_ptr< Representation > representation)
	Constructor. More...
virtual	~Localization ()
	Destructor. More...
void	setRepresentation (std::shared_ptr< Representation > representation)
	Sets the representation. More...
std::shared_ptr< Representation >	getRepresentation () const
	Gets the representation. More...
SurgSim::Math::Vector3d	calculatePosition (double time=1.0)
	Calculates the global position of this localization. More...

Private Member Functions
SurgSim::Math::Vector3d	doCalculatePosition (double time)
	Calculates the global position of this localization. More...

Private Attributes
SurgSim::Math::Vector3d	m_position
	3D position in local coordinates. More...

Detailed Description

This class implement the localization on a RigidRepresentation, as a local position.

Todo:

HS-2013-jun-21 There is a slight mismatch in the way the class was written and the current use, the constructor needs the correct shared_ptr and that might not be available, setRepresentation is currently used, but this does not check on the type of the representation, this needs to be fixed

Constructor & Destructor Documentation

SurgSim::Physics::RigidRepresentationLocalization::RigidRepresentationLocalization

(

)

Default constructor.

SurgSim::Physics::RigidRepresentationLocalization::RigidRepresentationLocalization ( std::shared_ptr< Representation >  representation )

explicit

Constructor.

Parameters

representation

The representation to assign to this localization.

SurgSim::Physics::RigidRepresentationLocalization::~RigidRepresentationLocalization ( )

virtual

Destructor.

Member Function Documentation

SurgSim::Math::Vector3d SurgSim::Physics::RigidRepresentationLocalization::doCalculatePosition ( double  time )

privatevirtual

Calculates the global position of this localization.

Parameters

time	The time in [0..1] at which the position should be calculated.

Returns

The global position of the localization at the requested time.

Note

time can useful when dealing with CCD.

Implements SurgSim::Physics::Localization.

const SurgSim::Math::Vector3d & SurgSim::Physics::RigidRepresentationLocalization::getLocalPosition

(

)

const

Gets the local position.

Returns

The local position set for this localization.

bool SurgSim::Physics::RigidRepresentationLocalization::isValidRepresentation ( std::shared_ptr< Representation >  representation )

overridevirtual

Query if 'representation' is valid representation.

Parameters

representation

The representation.

Returns

true if valid representation, false if not.

Reimplemented from SurgSim::Physics::Localization.

void SurgSim::Physics::RigidRepresentationLocalization::setLocalPosition

(

const SurgSim::Math::Vector3d &

p

)

Sets the local position.

Parameters

p	The local position to set the localization at.

Member Data Documentation

SurgSim::Math::Vector3d SurgSim::Physics::RigidRepresentationLocalization::m_position

private

3D position in local coordinates.

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

• SurgSim/Physics/RigidRepresentationLocalization.h
• SurgSim/Physics/RigidRepresentationLocalization.cpp