RigidRepresentationLocalization.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_RIGIDREPRESENTATIONLOCALIZATION_H
17 #define SURGSIM_PHYSICS_RIGIDREPRESENTATIONLOCALIZATION_H
18 
21 
22 #include "SurgSim/Math/Vector.h"
25 
26 namespace SurgSim
27 {
28 
29 namespace Physics
30 {
31 
38 {
39 public:
42 
45  explicit RigidRepresentationLocalization(std::shared_ptr<Representation> representation);
46 
49 
53 
57 
61  virtual bool isValidRepresentation(std::shared_ptr<Representation> representation) override;
62 
63 private:
69 
72 };
73 
74 }; // namespace Physics
75 
76 }; // namespace SurgSim
77 
78 #endif // SURGSIM_PHYSICS_RIGIDREPRESENTATIONLOCALIZATION_H
RigidRepresentationLocalization()
Default constructor.
Definition: RigidRepresentationLocalization.cpp:22
Definitions of quaternion types.
Definition: DriveElementFromInputBehavior.cpp:27
void setLocalPosition(const SurgSim::Math::Vector3d &p)
Sets the local position.
Definition: RigidRepresentationLocalization.cpp:38
SurgSim::Math::Vector3d m_position
3D position in local coordinates.
Definition: RigidRepresentationLocalization.h:71
const SurgSim::Math::Vector3d & getLocalPosition() const
Gets the local position.
Definition: RigidRepresentationLocalization.cpp:43
SurgSim::Math::Vector3d doCalculatePosition(double time)
Calculates the global position of this localization.
Definition: RigidRepresentationLocalization.cpp:48
Definitions of 2x2 and 3x3 rigid (isometric) transforms.
virtual ~RigidRepresentationLocalization()
Destructor.
Definition: RigidRepresentationLocalization.cpp:33
This class implement the localization on a RigidRepresentation, as a local position.
Definition: RigidRepresentationLocalization.h:37
Definitions of small fixed-size vector types.
This class localize a point on a representation (representation specific)
Definition: Localization.h:33
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:56
virtual bool isValidRepresentation(std::shared_ptr< Representation > representation) override
Query if 'representation' is valid representation.
Definition: RigidRepresentationLocalization.cpp:77