16 #ifndef SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H
17 #define SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H
53 void setShape(
const std::shared_ptr<SurgSim::Math::Shape>& shape);
54 virtual const std::shared_ptr<SurgSim::Math::Shape>
getShape()
const override;
56 virtual void update(
const double& dt)
override;
61 std::shared_ptr<SurgSim::Math::Shape>
m_shape;
67 #endif // SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H
Definition: DriveElementFromInputBehavior.cpp:27
virtual const std::shared_ptr< SurgSim::Math::Shape > getShape() const override
Get the shape.
Definition: ShapeCollisionRepresentation.cpp:59
SURGSIM_STATIC_REGISTRATION(ShapeCollisionRepresentation)
virtual void update(const double &dt) override
Update the representation.
Definition: ShapeCollisionRepresentation.cpp:64
SURGSIM_CLASSNAME(SurgSim::Collision::ShapeCollisionRepresentation)
virtual int getShapeType() const override
Get the shape type id.
Definition: ShapeCollisionRepresentation.cpp:40
ShapeCollisionRepresentation(const std::string &name)
Constructor.
Definition: ShapeCollisionRepresentation.cpp:29
virtual ~ShapeCollisionRepresentation()
Destructor.
Definition: ShapeCollisionRepresentation.cpp:36
std::shared_ptr< SurgSim::Math::Shape > m_shape
Definition: ShapeCollisionRepresentation.h:61
virtual bool doInitialize() override
Interface to be implemented by derived classes.
Definition: ShapeCollisionRepresentation.cpp:75
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to...
Definition: Representation.h:52
Use a Shape as a Collision Representation, any SurgSim::Physics::Representation can be used as a back...
Definition: ShapeCollisionRepresentation.h:36
void setShape(const std::shared_ptr< SurgSim::Math::Shape > &shape)
Definition: ShapeCollisionRepresentation.cpp:52
virtual void setLocalPose(const SurgSim::Math::RigidTransform3d &pose) override
Set the pose of the representation with respect to the Scene Element.
Definition: ShapeCollisionRepresentation.cpp:46