RigidRepresentationBase-inl.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_RIGIDREPRESENTATIONBASE_INL_H
17 #define SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_INL_H
18 
19 namespace SurgSim
20 {
21 
22 namespace Physics
23 {
24 
25 template <class T>
27  const SurgSim::DataStructures::Location& location)
28 {
29  // Change when we deal with the meshes as shapes
30  std::shared_ptr<T> result = std::make_shared<T>();
31 
33  "Tried to create a rigid localization without valid position information";
34 
35  result->setLocalPosition(location.rigidLocalPosition.getValue());
36 
37  return std::move(result);
38 }
39 
40 }; // Physics
41 
42 }; // SurgSim
43 
44 #endif // SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_INL_H
Definition: DriveElementFromInputBehavior.cpp:27
Definition: Location.h:31
#define SURGSIM_ASSERT(condition)
Assert that condition is true.
Definition: Assert.h:77
std::shared_ptr< T > createTypedLocalization(const SurgSim::DataStructures::Location &location)
Creates typed localization.
Definition: RigidRepresentationBase-inl.h:26
bool hasValue() const
Query if this object has been assigned a value.
Definition: OptionalValue.h:56
SurgSim::DataStructures::OptionalValue< SurgSim::Math::Vector3d > rigidLocalPosition
Definition: Location.h:60
const T & getValue() const
Gets the value.
Definition: OptionalValue.h:78