Public Member Functions | Protected Attributes | Private Member Functions | List of all members
SurgSim::Physics::RigidRepresentation Class Reference

The RigidRepresentation class defines the dynamic rigid body representation Note that the rigid representation is velocity-based, therefore its degrees of freedom are the linear and angular velocities: 6 Dof. More...

#include <SurgSim/Physics/RigidRepresentation.h>

Inheritance diagram for SurgSim::Physics::RigidRepresentation:
SurgSim::Physics::RigidRepresentationBase SurgSim::Physics::Representation SurgSim::Framework::Representation SurgSim::Framework::Component SurgSim::Framework::Accessible

Public Member Functions

 RigidRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~RigidRepresentation ()
 Destructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Physics::RigidRepresentation)
 
virtual RepresentationType getType () const override
 Query the representation type. More...
 
void setLinearVelocity (const SurgSim::Math::Vector3d &linearVelocity)
 Set the current linear velocity of the rigid representation. More...
 
void setAngularVelocity (const SurgSim::Math::Vector3d &angularVelocity)
 Set the current angular velocity of the rigid representation. More...
 
void addExternalGeneralizedForce (const SurgSim::Math::Vector6d &generalizedForce, const SurgSim::Math::Matrix66d &K=SurgSim::Math::Matrix66d::Zero(), const SurgSim::Math::Matrix66d &D=SurgSim::Math::Matrix66d::Zero())
 Add an external generalized force applied to the rigid representation's mass center. More...
 
void addExternalGeneralizedForce (const SurgSim::DataStructures::Location &location, const SurgSim::Math::Vector6d &generalizedForce, const SurgSim::Math::Matrix66d &K=SurgSim::Math::Matrix66d::Zero(), const SurgSim::Math::Matrix66d &D=SurgSim::Math::Matrix66d::Zero())
 Add an external generalized force applied to the rigid representation (anywhere). More...
 
const SurgSim::Math::Vector6dgetExternalGeneralizedForce () const
 
const SurgSim::Math::Matrix66dgetExternalGeneralizedStiffness () const
 
const SurgSim::Math::Matrix66dgetExternalGeneralizedDamping () const
 
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 update (double dt) override
 Update the representation state to the current time step. 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...
 
void applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity) override
 Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...
 
const SurgSim::Math::Matrix66dgetComplianceMatrix () const
 Retrieve the rigid body 6x6 compliance matrix. More...
 
- Public Member Functions inherited from SurgSim::Physics::RigidRepresentationBase
 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::ShapegetShape () 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...
 
- Public Member Functions inherited from SurgSim::Physics::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. 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...
 
std::shared_ptr< SurgSim::Collision::RepresentationgetCollisionRepresentation () 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 SceneElementgetSceneElement () 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, 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 Attributes

SurgSim::Math::Matrix33d m_globalInertia
 Inertia matrices in global coordinates. More...
 
SurgSim::Math::Matrix33d m_invGlobalInertia
 Inverse of inertia matrix in global coordinates. More...
 
SurgSim::Math::Vector3d m_force
 Current force applied on the rigid representation (in N) More...
 
SurgSim::Math::Vector3d m_torque
 Current torque applied on the rigid representation (in N.m) More...
 
SurgSim::Math::Matrix66d m_C
 Compliance matrix (size of the number of Dof = 6) More...
 
SurgSim::Math::Vector6d m_externalGeneralizedForce
 
SurgSim::Math::Matrix66d m_externalGeneralizedStiffness
 
SurgSim::Math::Matrix66d m_externalGeneralizedDamping
 
- Protected Attributes inherited from SurgSim::Physics::RigidRepresentationBase
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::Shapem_shape
 Shape to be used for the mass/inertia calculation. More...
 
- Protected Attributes inherited from SurgSim::Physics::Representation
std::shared_ptr< SurgSim::Collision::Representationm_collisionRepresentation
 This entity's collision representation, these are usually very specific to the physics representation. More...
 

Private Member Functions

virtual bool doInitialize () override
 Interface to be implemented by derived classes. More...
 
void computeComplianceMatrix (double dt)
 Compute compliance matrix (internal data structure) More...
 
virtual void updateGlobalInertiaMatrices (const RigidRepresentationState &state) override
 Update global inertia matrices (internal data structure) 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 ()
 
- Protected Member Functions inherited from SurgSim::Physics::RigidRepresentationBase
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< PoseComponentgetPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const PoseComponentgetPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 

Detailed Description

The RigidRepresentation class defines the dynamic rigid body representation Note that the rigid representation is velocity-based, therefore its degrees of freedom are the linear and angular velocities: 6 Dof.

Constructor & Destructor Documentation

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

Constructor.

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

Destructor.

Member Function Documentation

void SurgSim::Physics::RigidRepresentation::addExternalGeneralizedForce ( const SurgSim::Math::Vector6d generalizedForce,
const SurgSim::Math::Matrix66d K = SurgSim::Math::Matrix66d::Zero(),
const SurgSim::Math::Matrix66d D = SurgSim::Math::Matrix66d::Zero() 
)

Add an external generalized force applied to the rigid representation's mass center.

Note
This force is generalized (i.e. it's a 6D vector, containing both 3D force and 3D torque).
The stiffness and damping are 6x6 matrices with coupling between the translational and rotation dof.
All external generalized forces will be zeroed every afterUpdate call of the rigid representation.
Parameters
generalizedForceThe external generalized force to apply at the mass center
KThe stiffness matrix associated with the generalized force (jacobian of the force w.r.t position)
DThe damping matrix associated with the generalized force (jacobian of the force w.r.t velocity)
void SurgSim::Physics::RigidRepresentation::addExternalGeneralizedForce ( const SurgSim::DataStructures::Location location,
const SurgSim::Math::Vector6d generalizedForce,
const SurgSim::Math::Matrix66d K = SurgSim::Math::Matrix66d::Zero(),
const SurgSim::Math::Matrix66d D = SurgSim::Math::Matrix66d::Zero() 
)

Add an external generalized force applied to the rigid representation (anywhere).


Note
This force is generalized (i.e. it's a 6D vector, containing both 3D force and 3D torque).
The stiffness and damping are 6x6 matrices with coupling between the translational and rotation dof.
All external generalized forces will be zeroed every afterUpdate call of the rigid representation.
Parameters
locationThe application point (must contain a rigid local position)
generalizedForceThe external generalized force
KThe stiffness matrix associated with generalizedForce (jacobian w.r.t position)
DThe damping matrix associated with generalizedForce (jacobian w.r.t velocity)

The location produces an extra torque and extra terms in the derivatives (stiffness/damping matrices) coming from this extra torque.
Let's note the position dof ( \(\mathbf{C}\), \(\mathbf{W}\)) and the velocity dof ( \(\mathbf{v}\), \(\mathbf{w}\)), and \(R\) the 3x3 rotation matrix dependent on \(\mathbf{W}\). The force ( \(\mathbf{F}\)) applied on a point ( \(\mathbf{P}\)) that is not the mass center ( \(\mathbf{C}\)), produces a torque ( \(\mathbf{T}\)) and also affect matrix derivatives ( \(K\) and \(D\)) as follow:

\[ \mathbf{T} = \mathbf{CP} \wedge \mathbf{F} \]

Note that \(\mathbf{CP}\) does not depend on the velocity (neither \(\mathbf{v}\) nor \(\mathbf{w}\), therefore the damping matrix is affected by the terms:

\[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{v}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{v}} = \mathbf{CP} \wedge D_{3 \times 3}^{(0, 0)} \]

\[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{w}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{w}} = \mathbf{CP} \wedge D_{3 \times 3}^{(0, 3)} \]

Also note that \(\mathbf{CP}\) does not change if the rigid translate ( \(\mathbf{C}\) changes), but it changes if the rotation of the rigid changes ( \(\mathbf{W}\) changes => \(R\) changes).
Therefore \(\mathbf{CP}\) is a constant vector in the rigid local space \( \mathbf{CP} = R.\mathbf{CP_{local}} \) and its derivative w.r.t. \(\mathbf{C}\) is null and we get:

\[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{C}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{C}} = \mathbf{CP} \wedge K_{3 \times 3}^{(0,0)} \]

\[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{W}} = -\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} \wedge \mathbf{F} - \mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{W}} = -\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} \wedge \mathbf{F} + \mathbf{CP} \wedge K_{3 \times 3}^{(0, 3)} \]

To compute \(\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} = \frac{\partial R}{\partial \mathbf{W}}.\mathbf{CP}_{local}\), we operate a variable change, from the rotation vector \(\mathbf{W}\) to angle/axis ( \(\theta\), \(\mathbf{u}\)) representation (4 dof):

\[ \left\{ \begin{eqnarray*} \theta = |\mathbf{W}| \\ \mathbf{u} = \frac{\mathbf{W}}{|\mathbf{W}|} \end{eqnarray*} \right. \]

In this new coordinate system, we have (see reference http://en.wikipedia.org/wiki/Rotation_matrix):

\[ R(\theta, \mathbf{u}) = cos(\theta).I + sin(\theta).\left[\mathbf{u}\right] + (1-cos(\theta)).\mathbf{u} \otimes \mathbf{u} \]

where \(\left[\mathbf{u}\right]\) denotes the skew symmetric matrix of the vector \(\mathbf{u}\), \(\left[\mathbf{u}\right] = \left( \begin{array}{ccc} 0 & -u^z & u^y \\ u^z & 0 & -u^x \\ -u^y & u^x & 0 \end{array} \right)\) and \(\mathbf{u} \otimes \mathbf{u}\) the tensor product: \(\left(\mathbf{u} \otimes \mathbf{u}^T\right)_{ij} = u^i * u^j\).

Applying the chain derivation rule, we get:

\[ \frac{\partial R}{\partial W^{\alpha}} = \frac{\partial R}{\partial \theta}.\frac{\partial \theta}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^x}.\frac{\partial u^x}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^y}.\frac{\partial u^y}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^z}.\frac{\partial u^z}{\partial W^{\alpha}} \]

with

\[ \frac{\partial R}{\partial \theta} = -sin(\theta).I + cos(\theta).\left[\mathbf{u}\right] + sin(\theta).\mathbf{u} \otimes \mathbf{u} \]

\[ \frac{\partial R}{\partial u^x} = sin(\theta) \left( \begin{array}{ccc} 0 & 0 & 0 \\ 0 & 0 & -1 \\ 0 & 1 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 2u^x & u^y & u^z \\ u^y & 0 & 0 \\ u^z & 0 & 0 \end{array} \right) \]

\[ \frac{\partial R}{\partial u^y} = sin(\theta) \left( \begin{array}{ccc} 0 & 0 & 1 \\ 0 & 0 & 0 \\ -1 & 0 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 0 & u^x & 0 \\ u^x & 2u^y & u^z \\ 0 & u^z & 0 \end{array} \right) \]

\[ \frac{\partial R}{\partial u^z} = sin(\theta) \left( \begin{array}{ccc} 0 & -1 & 0 \\ 1 & 0 & 0 \\ 0 & 0 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 0 & 0 & u^x \\ 0 & 0 & u^y \\ u^x & u^y & 2u^z \end{array} \right) \]

and

\[ \frac{\partial \theta}{\partial W^{\alpha}} = \frac{W^{\alpha}}{|\mathbf{W}|} \]

\[ \frac{\partial u}{\partial W^{\alpha}} = \frac{1}{|\mathbf{W}|} . \left( \left( \begin{array}{c} \delta^{x,\alpha} \\ \delta^{y,\alpha} \\ \delta^{z,\alpha} \end{array} \right) - \frac{W^{\alpha}}{|\mathbf{W}|} \frac{\mathbf{W}}{|\mathbf{W}|} \right) \]

void SurgSim::Physics::RigidRepresentation::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::RigidRepresentationBase.

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

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 from SurgSim::Physics::Representation.

void SurgSim::Physics::RigidRepresentation::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::RigidRepresentationBase.

void SurgSim::Physics::RigidRepresentation::computeComplianceMatrix ( double  dt)
private

Compute compliance matrix (internal data structure)

Parameters
dtThe time step in use
bool SurgSim::Physics::RigidRepresentation::doInitialize ( )
overrideprivatevirtual

Interface to be implemented by derived classes.

Returns
True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Physics::RigidRepresentationBase.

const Eigen::Matrix< double, 6, 6, Eigen::RowMajor > & SurgSim::Physics::RigidRepresentation::getComplianceMatrix ( ) const

Retrieve the rigid body 6x6 compliance matrix.

Returns
the 6x6 compliance matrix
const SurgSim::Math::Matrix66d & SurgSim::Physics::RigidRepresentation::getExternalGeneralizedDamping ( ) const
Returns
the current external generalized damping 6x6 matrix
const SurgSim::Math::Vector6d & SurgSim::Physics::RigidRepresentation::getExternalGeneralizedForce ( ) const
Returns
the current external generalized 6D force
const SurgSim::Math::Matrix66d & SurgSim::Physics::RigidRepresentation::getExternalGeneralizedStiffness ( ) const
Returns
the current external generalized stiffness 6x6 matrix
SurgSim::Physics::RepresentationType SurgSim::Physics::RigidRepresentation::getType ( ) const
overridevirtual

Query the representation type.

Returns
the RepresentationType for this representation

Implements SurgSim::Physics::Representation.

void SurgSim::Physics::RigidRepresentation::setAngularVelocity ( const SurgSim::Math::Vector3d angularVelocity)

Set the current angular velocity of the rigid representation.

Parameters
angularVelocityThe angular velocity
void SurgSim::Physics::RigidRepresentation::setLinearVelocity ( const SurgSim::Math::Vector3d linearVelocity)

Set the current linear velocity of the rigid representation.

Parameters
linearVelocityThe linear velocity
SurgSim::Physics::RigidRepresentation::SURGSIM_CLASSNAME ( SurgSim::Physics::RigidRepresentation  )
void SurgSim::Physics::RigidRepresentation::update ( double  dt)
overridevirtual

Update the representation state to the current time step.

Parameters
dtThe time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

void SurgSim::Physics::RigidRepresentation::updateGlobalInertiaMatrices ( const RigidRepresentationState state)
overrideprivatevirtual

Update global inertia matrices (internal data structure)

Parameters
stateThe state of the rigid representation to use for the update

Implements SurgSim::Physics::RigidRepresentationBase.

Member Data Documentation

SurgSim::Math::Matrix66d SurgSim::Physics::RigidRepresentation::m_C
protected

Compliance matrix (size of the number of Dof = 6)

SurgSim::Math::Matrix66d SurgSim::Physics::RigidRepresentation::m_externalGeneralizedDamping
protected
SurgSim::Math::Vector6d SurgSim::Physics::RigidRepresentation::m_externalGeneralizedForce
protected
SurgSim::Math::Matrix66d SurgSim::Physics::RigidRepresentation::m_externalGeneralizedStiffness
protected
SurgSim::Math::Vector3d SurgSim::Physics::RigidRepresentation::m_force
protected

Current force applied on the rigid representation (in N)

SurgSim::Math::Matrix33d SurgSim::Physics::RigidRepresentation::m_globalInertia
protected

Inertia matrices in global coordinates.

SurgSim::Math::Matrix33d SurgSim::Physics::RigidRepresentation::m_invGlobalInertia
protected

Inverse of inertia matrix in global coordinates.

SurgSim::Math::Vector3d SurgSim::Physics::RigidRepresentation::m_torque
protected

Current torque applied on the rigid representation (in N.m)


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