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

#include <SurgSim/Physics/Representation.h>

Inheritance diagram for SurgSim::Physics::Representation:

Public Member Functions
	Representation (const std::string &name)
	Constructor. More...

virtual	~Representation ()
	Destructor. More...

virtual void	resetState ()
	Reset the representation to its initial/default state. 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...

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. More...

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. 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	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. 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 >
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...

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::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
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...

Representation &	operator= (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...

std::shared_ptr< SurgSim::Framework::Logger >	m_logger
	Logger for this class. More...

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 Representation class defines the base class for all physics objects.

Constructor & Destructor Documentation

◆ Representation() [1/2]

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

explicit

Constructor.

Parameters

name	The representation's name

◆ ~Representation()

SurgSim::Physics::Representation::~Representation ( )

virtual

Destructor.

Reimplemented from SurgSim::Framework::Representation.

◆ Representation() [2/2]

SurgSim::Physics::Representation::Representation ( const Representation & )

private

NO copy constructor.

Member Function Documentation

◆ afterUpdate()

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

dt	The time step (in seconds)

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

◆ applyCorrection()

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

dt	The time step
deltaVelocity	The block of a vector containing the correction to be applied to the velocity

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

◆ beforeUpdate()

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

dt	The time step (in seconds)

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

◆ createLocalization()

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

location A location in 3d space.

Returns: A localization object for the given location.

Reimplemented in SurgSim::Physics::MassSpringRepresentation, SurgSim::Physics::Fem1DRepresentation, SurgSim::Physics::Fem3DRepresentation, SurgSim::Physics::Fem2DRepresentation, and SurgSim::Physics::RigidRepresentationBase.

◆ driveSceneElementPose()

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

pose	New pose for the SceneElement

◆ getCollisionRepresentation()

std::shared_ptr< SurgSim::Collision::Representation > SurgSim::Physics::Representation::getCollisionRepresentation ( ) const

Returns: the collision representation for this physics representation.

◆ getConstraintImplementation()

std::shared_ptr< ConstraintImplementation > SurgSim::Physics::Representation::getConstraintImplementation ( SurgSim::Physics::ConstraintType type )

Get a constraint implementation of the given type for this representation.

Parameters

type	The type of constraint.

Returns: A contact constraint implementation or nullptr.

◆ getGravity()

const SurgSim::Math::Vector3d & SurgSim::Physics::Representation::getGravity ( ) const

protected

Get the gravity used by this Representation.

Returns: The gravity vector

◆ getNumDof()

size_t SurgSim::Physics::Representation::getNumDof ( ) const

Query the object number of degrees of freedom.

Returns: The number of degrees of freedom

◆ isDrivingSceneElementPose()

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

◆ isGravityEnabled()

bool SurgSim::Physics::Representation::isGravityEnabled ( ) const

Get the gravity enable flag.

Returns: true if gravity enabled, false if not.

◆ operator=()

Representation& SurgSim::Physics::Representation::operator= ( const Representation & )

private

NO assignment operator.

◆ resetState()

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

virtual

Reset the representation to its initial/default state.

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

◆ setCollisionRepresentation()

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

representation The appropriate collision representation for this object.

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

◆ setIsDrivingSceneElementPose()

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

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

Parameters

isDrivingSceneElementPose true if this Representation is driving the pose of the SceneElement

◆ setIsGravityEnabled()

void SurgSim::Physics::Representation::setIsGravityEnabled ( bool isGravityEnabled )

Set the gravity enable flag.

Parameters

isGravityEnabled True if gravity enabled, false if not.

◆ setNumDof()

void SurgSim::Physics::Representation::setNumDof ( size_t numDof )

protected

Set the number of degrees of freedom.

Parameters

numDof The number of degrees of freedom

Note: protected so that nobody can change the number of DOF; except daughter classes

◆ update()

void SurgSim::Physics::Representation::update ( double dt )

virtual

Update the representation state to the current time step.

Parameters

dt	The time step (in seconds)

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

Member Data Documentation

◆ m_collisionRepresentation

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.

◆ m_gravity

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

private

Gravity vector.

◆ m_isDrivingSceneElementPose

bool SurgSim::Physics::Representation::m_isDrivingSceneElementPose

private

Is this representation driving the sceneElement pose.

◆ m_isGravityEnabled

bool SurgSim::Physics::Representation::m_isGravityEnabled

private

Gravity enabled flag.

◆ m_logger

std::shared_ptr<SurgSim::Framework::Logger> SurgSim::Physics::Representation::m_logger

private

Logger for this class.

◆ m_numDof

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:

SurgSim/Physics/Representation.h
SurgSim/Physics/Representation.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Representation() [1/2]

◆ ~Representation()

◆ Representation() [2/2]

Member Function Documentation

◆ afterUpdate()

◆ applyCorrection()

◆ beforeUpdate()

◆ createLocalization()

◆ driveSceneElementPose()

◆ getCollisionRepresentation()

◆ getConstraintImplementation()

◆ getGravity()

◆ getNumDof()

◆ isDrivingSceneElementPose()

◆ isGravityEnabled()

◆ operator=()

◆ resetState()

◆ setCollisionRepresentation()

◆ setIsDrivingSceneElementPose()

◆ setIsGravityEnabled()

◆ setNumDof()

◆ update()

Member Data Documentation

◆ m_collisionRepresentation

◆ m_gravity

◆ m_isDrivingSceneElementPose

◆ m_isGravityEnabled

◆ m_logger

◆ m_numDof