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| MassSpring3DRepresentation (const std::string &name) |
| Constructor. More...
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void | init3D (const std::array< std::array< std::array< SurgSim::Math::Vector3d, 2 >, 2 >, 2 > extremities, size_t numNodesPerDim[3], std::vector< size_t > nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending, double stiffnessFaceDiagonal, double dampingFaceDiagonal, double stiffnessVolumeDiagonal, double dampingVolumeDiagonal) |
| Initializes a 3D model. More...
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| MassSpringRepresentation (const std::string &name) |
| Constructor. More...
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virtual | ~MassSpringRepresentation () |
| Destructor. More...
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void | addMass (const std::shared_ptr< Mass > mass) |
| Adds a mass. More...
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void | addSpring (const std::shared_ptr< Spring > spring) |
| Adds a spring. More...
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size_t | getNumMasses () const |
| Gets the number of masses. More...
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size_t | getNumSprings () const |
| Gets the number of springs. More...
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std::shared_ptr< Mass > | getMass (size_t nodeId) |
| Retrieves the mass of a given node. More...
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std::shared_ptr< Spring > | getSpring (size_t springId) |
| Retrieves a given spring from its id. More...
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double | getTotalMass () const |
| Gets the total mass of the mass spring. More...
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double | getRayleighDampingStiffness () const |
| Gets the Rayleigh stiffness parameter. More...
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double | getRayleighDampingMass () const |
| Gets the Rayleigh mass parameter. More...
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void | setRayleighDampingStiffness (double stiffnessCoef) |
| Sets the Rayleigh stiffness parameter. More...
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void | setRayleighDampingMass (double massCoef) |
| Sets the Rayleigh mass parameter. More...
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virtual RepresentationType | getType () const override |
| Query the representation type. More...
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virtual void | addExternalGeneralizedForce (std::shared_ptr< Localization > localization, SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix()) override |
| Add an external generalized force applied on a specific localization. More...
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virtual void | beforeUpdate (double dt) override |
| Preprocessing done before the update call. More...
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virtual SurgSim::Math::Vector & | computeF (const SurgSim::Math::OdeState &state) override |
| Evaluation of the RHS function f(x,v) for a given state. More...
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virtual const SurgSim::Math::Matrix & | computeM (const SurgSim::Math::OdeState &state) override |
| Evaluation of the LHS matrix M(x,v) for a given state. More...
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virtual const SurgSim::Math::Matrix & | computeD (const SurgSim::Math::OdeState &state) override |
| Evaluation of D = -df/dv (x,v) for a given state. More...
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virtual const SurgSim::Math::Matrix & | computeK (const SurgSim::Math::OdeState &state) override |
| Evaluation of K = -df/dx (x,v) for a given state. More...
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virtual void | computeFMDK (const SurgSim::Math::OdeState &state, SurgSim::Math::Vector **f, SurgSim::Math::Matrix **M, SurgSim::Math::Matrix **D, SurgSim::Math::Matrix **K) override |
| Evaluation of f(x,v), M(x,v), D = -df/dv(x,v), K = -df/dx(x,v) When all the terms are needed, this method can perform optimization in evaluating everything together. More...
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| DeformableRepresentation (const std::string &name) |
| Constructor. More...
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virtual | ~DeformableRepresentation () |
| Destructor. More...
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virtual void | resetState () override |
| Reset the representation to its initial/default state. More...
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virtual void | setInitialState (std::shared_ptr< SurgSim::Math::OdeState > initialState) |
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virtual const std::shared_ptr< SurgSim::Math::OdeState > | getCurrentState () const |
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virtual const std::shared_ptr< SurgSim::Math::OdeState > | getPreviousState () const |
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virtual const std::shared_ptr< SurgSim::Math::OdeState > | getFinalState () const |
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size_t | getNumDofPerNode () const |
| Gets the number of degrees of freedom per node. More...
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void | setIntegrationScheme (SurgSim::Math::IntegrationScheme integrationScheme) |
| Sets the numerical integration scheme. More...
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SurgSim::Math::IntegrationScheme | getIntegrationScheme () const |
| Gets the numerical integration scheme. More...
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const SurgSim::Math::Vector & | getExternalGeneralizedForce () const |
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const SurgSim::Math::Matrix & | getExternalGeneralizedStiffness () const |
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const SurgSim::Math::Matrix & | getExternalGeneralizedDamping () const |
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const SurgSim::Math::Matrix & | getComplianceMatrix () const |
| Gets the compliance matrix associated with motion. More...
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virtual void | update (double dt) override |
| Update the representation state to the current time step. More...
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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...
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virtual 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...
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void | deactivateAndReset (void) |
| Deactivate and call resetState. More...
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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...
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| Representation (const std::string &name) |
| Constructor. More...
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virtual | ~Representation () |
| Destructor. More...
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virtual void | resetParameters () |
| Reset the representation parameters to their initial/default values. More...
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size_t | getNumDof () const |
| Query the object number of degrees of freedom. More...
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void | setIsGravityEnabled (bool isGravityEnabled) |
| Set the gravity enable flag. More...
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bool | isGravityEnabled () const |
| Get the gravity enable flag. More...
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void | setIsDrivingSceneElementPose (bool isDrivingSceneElementPose) |
| Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...
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bool | isDrivingSceneElementPose () |
| Query if this Representation is controlling the pose of the SceneElement that it is part of. More...
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virtual std::shared_ptr< Localization > | createLocalization (const SurgSim::DataStructures::Location &location) |
| Computes a localized coordinate w.r.t this representation, given a Location object. More...
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std::shared_ptr< SurgSim::Collision::Representation > | getCollisionRepresentation () const |
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| Representation (const std::string &name) |
| Constructor. More...
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virtual void | setLocalPose (const SurgSim::Math::RigidTransform3d &pose) |
| Set the pose of the representation with respect to the Scene Element. More...
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virtual SurgSim::Math::RigidTransform3d | getLocalPose () const |
| Get the pose of the representation with respect to the Scene Element. More...
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virtual SurgSim::Math::RigidTransform3d | getPose () const |
| Get the pose of the representation in world coordinates. More...
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| Component (const std::string &name) |
| Constructor. More...
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virtual | ~Component () |
| Destructor. More...
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std::string | getName () const |
| Gets component name. More...
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void | setName (const std::string &name) |
| Sets the name of component. More...
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boost::uuids::uuid | getUuid () const |
| Gets the id of the component. More...
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bool | isInitialized () const |
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bool | initialize (const std::weak_ptr< Runtime > &runtime) |
| Initialize this component, this needs to be called before wakeUp() can be called. More...
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bool | isAwake () const |
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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...
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void | setScene (std::weak_ptr< Scene > scene) |
| Sets the scene. More...
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std::shared_ptr< Scene > | getScene () |
| Gets the scene. More...
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void | setSceneElement (std::weak_ptr< SceneElement > sceneElement) |
| Sets the scene element. More...
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std::shared_ptr< SceneElement > | getSceneElement () |
| Gets the scene element. More...
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std::shared_ptr< const SceneElement > | getSceneElement () const |
| Gets the scene element, constant version. More...
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std::shared_ptr< Runtime > | getRuntime () const |
| Get the runtime which contains this component. More...
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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...
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std::shared_ptr< Component > | getSharedPtr () |
| Gets a shared pointer to this component. More...
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bool | isActive () const |
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virtual void | setLocalActive (bool val) |
| Set the component's active state. More...
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bool | isLocalActive () const |
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| Accessible () |
| Default Constructor. More...
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| ~Accessible () |
| Destructor. More...
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template<class T > |
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...
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boost::any | getValue (const std::string &name) const |
| Retrieves the value with the name by executing the getter if it is found. More...
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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...
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void | setValue (const std::string &name, const boost::any &value) |
| Sets a value of a property that has setter. More...
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bool | isReadable (const std::string &name) const |
| Check whether a property is readable. More...
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bool | isWriteable (const std::string &name) const |
| Check whether a property is writable. More...
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void | setGetter (const std::string &name, GetterType func) |
| Sets a getter for a given property. More...
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void | setSetter (const std::string &name, SetterType func) |
| Sets a setter for a given property. More...
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void | setAccessors (const std::string &name, GetterType getter, SetterType setter) |
| Sets the accessors getter and setter in one function. More...
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void | removeAccessors (const std::string &name) |
| Removes all the accessors (getter and setter) for a given property. More...
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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...
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void | setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder) |
| Sets the functions used to convert data from and to a YAML::Node. More...
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YAML::Node | encode () const |
| Encode this Accessible to a YAML::Node. More...
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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...
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template<> |
boost::any | getValue (const std::string &name) const |
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virtual | ~OdeEquation () |
| Virtual destructor. More...
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const std::shared_ptr< OdeState > | getInitialState () const |
| Retrieves the ode initial conditions (x0, v0) (i.e. More...
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typedef SurgSim::Framework::ObjectFactory1< SurgSim::Framework::Component, std::string > | FactoryType |
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typedef std::function< boost::any(void)> | GetterType |
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typedef std::function< void(boost::any)> | SetterType |
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typedef std::function< YAML::Node(void)> | EncoderType |
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typedef std::function< void(const YAML::Node *)> | DecoderType |
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static FactoryType & | getFactory () |
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void | addRayleighDampingForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, bool useGlobalStiffnessMatrix=false, bool useGlobalMassMatrix=false, double scale=1.0) |
| Add the Rayleigh damping forces. More...
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void | addSpringsForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0) |
| Add the springs force to f (given a state) More...
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void | addGravityForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0) |
| Add the gravity force to f (given a state) More...
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void | transformState (std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform) |
| Transform a state using a given transformation. More...
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virtual bool | doWakeUp () override |
| Interface to be implemented by derived classes. More...
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void | setNumDof (size_t numDof) |
| Set the number of degrees of freedom. More...
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const SurgSim::Math::Vector3d & | getGravity () const |
| Get the gravity used by this Representation. More...
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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...
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virtual std::shared_ptr< PoseComponent > | getPoseComponent () |
| Get the PoseComponent for this component. More...
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virtual std::shared_ptr< const PoseComponent > | getPoseComponent () const |
| Get the PoseComponent for this component, constant access. More...
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std::shared_ptr< SurgSim::Math::OdeState > | m_previousState |
| The previous state inside the calculation loop, this has no meaning outside of the loop. More...
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std::shared_ptr< SurgSim::Math::OdeState > | m_currentState |
| The currently calculated state inside the physics loop, after the whole calculation is done this will become m_finalState. More...
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std::shared_ptr< SurgSim::Math::OdeState > | m_newState |
| New state is a temporary variable to store the newly computed state. More...
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std::shared_ptr< SurgSim::Math::OdeState > | m_finalState |
| Last valid state (a.k.a final state) More...
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SurgSim::Math::Vector | m_f |
| Force applied on the deformable representation. More...
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SurgSim::Math::Matrix | m_M |
| Mass matrix. More...
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SurgSim::Math::Matrix | m_D |
| Damping matrix. More...
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SurgSim::Math::Matrix | m_K |
| Stiffness matrix. More...
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size_t | m_numDofPerNode |
| Number of degrees of freedom per node (varies per deformable model) More...
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SurgSim::Math::IntegrationScheme | m_integrationScheme |
| Numerical Integration scheme (dynamic explicit/implicit solver) More...
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bool | m_needToReloadOdeSolver |
| Specify if the Ode Solver needs to be (re)loaded (do not exist yet, or integration scheme has changed) More...
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std::shared_ptr< SurgSim::Math::OdeSolver > | m_odeSolver |
| Ode solver (its type depends on the numerical integration scheme) More...
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SurgSim::Math::Vector | m_externalGeneralizedForce |
| External generalized force, stiffness and damping applied on the deformable representation. More...
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SurgSim::Math::Matrix | m_externalGeneralizedStiffness |
| External generalized force, stiffness and damping applied on the deformable representation. More...
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SurgSim::Math::Matrix | m_externalGeneralizedDamping |
| External generalized force, stiffness and damping applied on the deformable representation. More...
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std::shared_ptr< SurgSim::Collision::Representation > | m_collisionRepresentation |
| This entity's collision representation, these are usually very specific to the physics representation. More...
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std::shared_ptr< OdeState > | m_initialState |
| The initial state (which defines the ODE initial conditions (x0, v0)) More...
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