Public Member Functions | Private Attributes | List of all members
SurgSim::Collision::ShapeCollisionRepresentation Class Reference

Use a Shape as a Collision Representation, any SurgSim::Physics::Representation can be used as a backing representation. More...

#include <SurgSim/Collision/ShapeCollisionRepresentation.h>

Inheritance diagram for SurgSim::Collision::ShapeCollisionRepresentation:
SurgSim::Collision::Representation SurgSim::Framework::Representation SurgSim::Framework::Component SurgSim::Framework::Accessible

Public Member Functions

 ShapeCollisionRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~ShapeCollisionRepresentation ()
 Destructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Collision::ShapeCollisionRepresentation)
 
virtual int getShapeType () const override
 Get the shape type id. More...
 
virtual void setLocalPose (const SurgSim::Math::RigidTransform3d &pose) override
 Set the pose of the representation with respect to the Scene Element. More...
 
void setShape (const std::shared_ptr< SurgSim::Math::Shape > &shape)
 
virtual const std::shared_ptr< SurgSim::Math::ShapegetShape () const override
 Get the shape. More...
 
virtual void update (const double &dt) override
 Update the representation. More...
 
virtual bool doInitialize () override
 Interface to be implemented by derived classes. More...
 
- Public Member Functions inherited from SurgSim::Collision::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
SurgSim::DataStructures::BufferedValue< ContactMapType > & getCollisions ()
 A map between collision representations and contacts. More...
 
- Public Member Functions inherited from SurgSim::Framework::Representation
 Representation (const std::string &name)
 Constructor. 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
 

Private Attributes

std::shared_ptr< SurgSim::Math::Shapem_shape
 

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::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...
 
- Protected Attributes inherited from SurgSim::Collision::Representation
SurgSim::DataStructures::BufferedValue< ContactMapTypem_collisions
 A map which associates a list of contacts with each collision representation. More...
 

Detailed Description

Use a Shape as a Collision Representation, any SurgSim::Physics::Representation can be used as a backing representation.

Constructor & Destructor Documentation

SurgSim::Collision::ShapeCollisionRepresentation::ShapeCollisionRepresentation ( const std::string &  name)
explicit

Constructor.

SurgSim::Collision::ShapeCollisionRepresentation::~ShapeCollisionRepresentation ( )
virtual

Destructor.

Member Function Documentation

bool SurgSim::Collision::ShapeCollisionRepresentation::doInitialize ( )
overridevirtual

Interface to be implemented by derived classes.

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

Reimplemented from SurgSim::Framework::Representation.

const std::shared_ptr< SurgSim::Math::Shape > SurgSim::Collision::ShapeCollisionRepresentation::getShape ( ) const
overridevirtual

Get the shape.

Returns
The actual shape used for collision.

Implements SurgSim::Collision::Representation.

int SurgSim::Collision::ShapeCollisionRepresentation::getShapeType ( ) const
overridevirtual

Get the shape type id.

Returns
The unique type of the shape, used to determine which calculation to use.

Implements SurgSim::Collision::Representation.

void SurgSim::Collision::ShapeCollisionRepresentation::setLocalPose ( const SurgSim::Math::RigidTransform3d pose)
overridevirtual

Set the pose of the representation with respect to the Scene Element.

Parameters
poseThe pose to set the representation to

Reimplemented from SurgSim::Framework::Representation.

void SurgSim::Collision::ShapeCollisionRepresentation::setShape ( const std::shared_ptr< SurgSim::Math::Shape > &  shape)
SurgSim::Collision::ShapeCollisionRepresentation::SURGSIM_CLASSNAME ( SurgSim::Collision::ShapeCollisionRepresentation  )
void SurgSim::Collision::ShapeCollisionRepresentation::update ( const double &  dt)
overridevirtual

Update the representation.

Parameters
dtthe time passed from the last update.

Reimplemented from SurgSim::Collision::Representation.

Member Data Documentation

std::shared_ptr<SurgSim::Math::Shape> SurgSim::Collision::ShapeCollisionRepresentation::m_shape
private

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