16 #ifndef SURGSIM_COLLISION_REPRESENTATION_H
17 #define SURGSIM_COLLISION_REPRESENTATION_H
21 #include <unordered_map>
44 typedef std::unordered_map<std::shared_ptr<SurgSim::Collision::Representation>,
45 std::list<std::shared_ptr<SurgSim::Collision::Contact>>>
ContactMapType;
68 virtual const std::shared_ptr<SurgSim::Math::Shape>
getShape()
const = 0;
77 virtual void update(
const double& dt);
Definition: DriveElementFromInputBehavior.cpp:27
virtual ~Representation()
Destructor.
Definition: Representation.cpp:29
virtual const std::shared_ptr< SurgSim::Math::Shape > getShape() const =0
Get the shape.
virtual int getShapeType() const =0
Get the shape type id.
std::unordered_map< std::shared_ptr< SurgSim::Collision::Representation >, std::list< std::shared_ptr< SurgSim::Collision::Contact > > > ContactMapType
Definition: Representation.h:42
virtual void update(const double &dt)
Update the representation.
Definition: Representation.cpp:39
SurgSim::DataStructures::BufferedValue< ContactMapType > m_collisions
A map which associates a list of contacts with each collision representation.
Definition: Representation.h:83
Representation(const std::string &name)
Constructor.
Definition: Representation.cpp:24
Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to...
Definition: Representation.h:52
Representations are manifestations of a SceneElement.
Definition: Representation.h:33
SurgSim::DataStructures::BufferedValue< ContactMapType > & getCollisions()
A map between collision representations and contacts.
Definition: Representation.cpp:34