FixedRepresentation.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_FIXEDREPRESENTATION_H
17 #define SURGSIM_PHYSICS_FIXEDREPRESENTATION_H
18 
21 
22 namespace SurgSim
23 {
24 
25 namespace Physics
26 {
27 class RigidRepresentationState;
28 
29 SURGSIM_STATIC_REGISTRATION(FixedRepresentation);
30 
34 {
35 public:
38  explicit FixedRepresentation(const std::string& name);
39 
41  virtual ~FixedRepresentation();
42 
44 
45  virtual RepresentationType getType() const override;
46 
47  virtual void updateGlobalInertiaMatrices(const RigidRepresentationState& state) override;
48 
49  virtual void update(double dt) override;
50 };
51 
52 }; // Physics
53 }; // SurgSim
54 
55 #endif // SURGSIM_PHYSICS_FIXEDREPRESENTATION_H
Definition: DriveElementFromInputBehavior.cpp:27
RepresentationType
Definition: Representation.h:42
virtual RepresentationType getType() const override
Query the representation type.
Definition: FixedRepresentation.cpp:34
SURGSIM_CLASSNAME(SurgSim::Physics::FixedRepresentation)
virtual void updateGlobalInertiaMatrices(const RigidRepresentationState &state) override
Definition: FixedRepresentation.cpp:39
The FixedRepresentation class represents a physics entity without any motion nor compliance against w...
Definition: FixedRepresentation.h:33
The RigidRepresentationBase class defines the base class for all rigid motion based representations (...
Definition: RigidRepresentationBase.h:38
virtual void update(double dt) override
Update the representation state to the current time step.
Definition: FixedRepresentation.cpp:44
virtual ~FixedRepresentation()
Destructor.
Definition: FixedRepresentation.cpp:29
FixedRepresentation(const std::string &name)
Constructor.
Definition: FixedRepresentation.cpp:24
The RigidRepresentationState class describes a state (position and velocity information).
Definition: RigidRepresentationState.h:31
SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation)