16 #ifndef SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_H
17 #define SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_H
106 void setShape(
const std::shared_ptr<SurgSim::Math::Shape> shape);
110 const std::shared_ptr<SurgSim::Math::Shape>
getShape()
const;
118 std::shared_ptr<SurgSim::Collision::Representation> representation)
override;
158 std::shared_ptr<SurgSim::Math::Shape>
m_shape;
179 #endif // SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_H
double m_angularDamping
Angular damping parameter (in N.m.s.rad-1)
Definition: RigidRepresentationBase.h:149
virtual ~RigidRepresentationBase()
Destructor.
Definition: RigidRepresentationBase.cpp:60
virtual void setCollisionRepresentation(std::shared_ptr< SurgSim::Collision::Representation > representation) override
Set the collision representation for this physics representation, when the collision object is involv...
Definition: RigidRepresentationBase.cpp:216
Definition: DriveElementFromInputBehavior.cpp:27
RigidRepresentationBase(const std::string &name)
Constructor.
Definition: RigidRepresentationBase.cpp:35
std::shared_ptr< SurgSim::Math::Shape > m_shape
Shape to be used for the mass/inertia calculation.
Definition: RigidRepresentationBase.h:158
void updateProperties()
Updates mass, mass center and inertia when density and/or shape used for mass inertia is updated...
Definition: RigidRepresentationBase.cpp:187
RigidRepresentationState m_finalState
Last valid/final rigid representation state.
Definition: RigidRepresentationBase.h:134
const SurgSim::Math::Vector3d & getMassCenter() const
Get the mass center of the rigid body.
Definition: RigidRepresentationBase.cpp:143
void setInitialState(const RigidRepresentationState &state)
Set the initial state of the rigid representation.
Definition: RigidRepresentationBase.cpp:86
SurgSim::Math::Matrix33d m_localInertia
Inertia matrix in local coordinates.
Definition: RigidRepresentationBase.h:155
The Representation class defines the base class for all physics objects.
Definition: Representation.h:56
Definition: Location.h:31
void setLinearDamping(double linearDamping)
Set the linear damping parameter.
Definition: RigidRepresentationBase.cpp:153
void resetState()
Reset the rigid representation state to its initial state.
Definition: RigidRepresentationBase.cpp:95
RigidRepresentationState m_initialState
Initial rigid representation state (useful for reset)
Definition: RigidRepresentationBase.h:128
double getLinearDamping() const
Get the linear damping parameter.
Definition: RigidRepresentationBase.cpp:158
void setShape(const std::shared_ptr< SurgSim::Math::Shape > shape)
Set the shape to use internally for physical parameters computation.
Definition: RigidRepresentationBase.cpp:173
std::shared_ptr< Localization > createLocalization(const SurgSim::DataStructures::Location &location)
Computes a localized coordinate w.r.t this representation, given a Location object.
Definition: RigidRepresentationBase.cpp:121
The RigidRepresentationBase class defines the base class for all rigid motion based representations (...
Definition: RigidRepresentationBase.h:38
double getMass() const
Get the mass of the rigid body.
Definition: RigidRepresentationBase.cpp:138
double m_mass
Total mass of the object (in Kg)
Definition: RigidRepresentationBase.h:143
virtual bool doWakeUp() override
Interface to be implemented by derived classes.
Definition: RigidRepresentationBase.cpp:75
const SurgSim::Math::Matrix33d & getLocalInertia() const
Get the local inertia 3x3 matrix of the rigid body.
Definition: RigidRepresentationBase.cpp:148
double m_rho
Density of the object (in Kg.m-3)
Definition: RigidRepresentationBase.h:140
RigidRepresentationState m_currentState
Current rigid representation state.
Definition: RigidRepresentationBase.h:132
bool m_parametersValid
Validity of the parameters.
Definition: RigidRepresentationBase.h:137
std::shared_ptr< T > createTypedLocalization(const SurgSim::DataStructures::Location &location)
Creates typed localization.
Definition: RigidRepresentationBase-inl.h:26
const RigidRepresentationState & getCurrentState() const
Get the current state of the rigid representation.
Definition: RigidRepresentationBase.cpp:111
double m_linearDamping
Linear damping parameter (in N.s.m-1 or Kg.s-1)
Definition: RigidRepresentationBase.h:146
SurgSim::Math::Vector3d m_massCenter
Mass-center of the object.
Definition: RigidRepresentationBase.h:152
const RigidRepresentationState & getPreviousState() const
Get the previous state of the rigid representation.
Definition: RigidRepresentationBase.cpp:116
Eigen::Matrix< double, 3, 3, Eigen::RowMajor > Matrix33d
A 3x3 matrix of doubles.
Definition: Matrix.h:51
virtual void beforeUpdate(double dt) override
Preprocessing done before the update call This needs to be called from the outside usually from a Com...
Definition: RigidRepresentationBase.cpp:205
const std::shared_ptr< SurgSim::Math::Shape > getShape() const
Get the shape used internally for physical parameters computation.
Definition: RigidRepresentationBase.cpp:182
double getAngularDamping() const
Get the angular damping parameter.
Definition: RigidRepresentationBase.cpp:168
const RigidRepresentationState & getInitialState() const
Get the initial state of the rigid representation.
Definition: RigidRepresentationBase.cpp:106
void setDensity(double rho)
Set the mass density of the rigid representation.
Definition: RigidRepresentationBase.cpp:127
virtual bool doInitialize() override
Interface to be implemented by derived classes.
Definition: RigidRepresentationBase.cpp:64
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:56
double getDensity() const
Get the mass density of the rigid representation.
Definition: RigidRepresentationBase.cpp:133
The RigidRepresentationState class describes a state (position and velocity information).
Definition: RigidRepresentationState.h:31
virtual void updateGlobalInertiaMatrices(const RigidRepresentationState &state)=0
void setAngularDamping(double angularDamping)
Set the angular damping parameter.
Definition: RigidRepresentationBase.cpp:163
RigidRepresentationState m_previousState
Previous rigid representation state.
Definition: RigidRepresentationBase.h:130
virtual void afterUpdate(double dt) override
Postprocessing done after the update call This needs to be called from the outside usually from a Com...
Definition: RigidRepresentationBase.cpp:210