Public Member Functions | Private Member Functions | Private Attributes | List of all members
SurgSim::Physics::RigidRepresentationState Class Reference

The RigidRepresentationState class describes a state (position and velocity information). More...

#include <SurgSim/Physics/RigidRepresentationState.h>

Inheritance diagram for SurgSim::Physics::RigidRepresentationState:
SurgSim::Framework::Accessible

Public Member Functions

 RigidRepresentationState ()
 Default constructor. More...
 
 RigidRepresentationState (const RigidRepresentationState &rhs)
 Default constructor. More...
 
RigidRepresentationStateoperator= (const RigidRepresentationState &rhs)
 Copy assignment. More...
 
virtual ~RigidRepresentationState ()
 Destructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Physics::RigidRepresentationState)
 
bool operator== (const RigidRepresentationState &rhs) const
 Comparison operator. More...
 
bool operator!= (const RigidRepresentationState &rhs) const
 Comparison operator. More...
 
void reset ()
 Reset the state to default values Vectors will be filled with 0 Rotations will be set to identity (quaternion or matrix type) If you want to reset to initial values, you need to save them separately in another RigidRepresentationState and assign it to this instance. More...
 
const SurgSim::Math::Vector3dgetLinearVelocity () const
 Get the linear velocity. More...
 
const SurgSim::Math::Vector3dgetAngularVelocity () const
 Get the angular velocity. More...
 
void setLinearVelocity (const SurgSim::Math::Vector3d &v)
 Set the linear velocity. More...
 
void setAngularVelocity (const SurgSim::Math::Vector3d &w)
 Set the angular velocity. More...
 
void setPose (const SurgSim::Math::RigidTransform3d &pose)
 Set the rigid representation pose. More...
 
const SurgSim::Math::RigidTransform3dgetPose () const
 Get the rigid representation pose. More...
 
- Public Member Functions inherited from SurgSim::Framework::Accessible
 Accessible ()
 Default Constructor. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class 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...
 
boost::any getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found. More...
 
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...
 
void setValue (const std::string &name, const boost::any &value)
 Sets a value of a property that has setter. More...
 
bool isReadable (const std::string &name) const
 Check whether a property is readable. More...
 
bool isWriteable (const std::string &name) const
 Check whether a property is writable. More...
 
void setGetter (const std::string &name, GetterType func)
 Sets a getter for a given property. More...
 
void setSetter (const std::string &name, SetterType func)
 Sets a setter for a given property. More...
 
void setAccessors (const std::string &name, GetterType getter, SetterType setter)
 Sets the accessors getter and setter in one function. More...
 
void removeAccessors (const std::string &name)
 Removes all the accessors (getter and setter) for a given property. More...
 
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...
 
void setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
 Sets the functions used to convert data from and to a YAML::Node. More...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
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...
 
template<>
boost::any getValue (const std::string &name) const
 

Private Member Functions

void addSerializableProperty ()
 Register accessors of serializable properties. More...
 

Private Attributes

SurgSim::Math::Vector3d m_v
 Linear velocity. More...
 
SurgSim::Math::Vector3d m_w
 Angular velocity. More...
 
SurgSim::Math::RigidTransform3d m_pose
 Rigid representation pose (translation + rotation) More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> GetterType
 
typedef std::function< void(boost::any)> SetterType
 
typedef std::function< YAML::Node(void)> EncoderType
 
typedef std::function< void(const YAML::Node *)> DecoderType
 

Detailed Description

The RigidRepresentationState class describes a state (position and velocity information).

Constructor & Destructor Documentation

SurgSim::Physics::RigidRepresentationState::RigidRepresentationState ( )

Default constructor.

SurgSim::Physics::RigidRepresentationState::RigidRepresentationState ( const RigidRepresentationState rhs)

Default constructor.

SurgSim::Physics::RigidRepresentationState::~RigidRepresentationState ( )
virtual

Destructor.

Member Function Documentation

void SurgSim::Physics::RigidRepresentationState::addSerializableProperty ( )
private

Register accessors of serializable properties.

const SurgSim::Math::Vector3d & SurgSim::Physics::RigidRepresentationState::getAngularVelocity ( ) const

Get the angular velocity.

Returns
the angular velocity
const SurgSim::Math::Vector3d & SurgSim::Physics::RigidRepresentationState::getLinearVelocity ( ) const

Get the linear velocity.

Returns
the linear velocity
const SurgSim::Math::RigidTransform3d & SurgSim::Physics::RigidRepresentationState::getPose ( ) const

Get the rigid representation pose.

Returns
A constant reference to the pose (read only)
bool SurgSim::Physics::RigidRepresentationState::operator!= ( const RigidRepresentationState rhs) const

Comparison operator.

Parameters
rhsA RigidRepresentationState to compare it to
Returns
False if the 2 states are equals, True otherwise
RigidRepresentationState & SurgSim::Physics::RigidRepresentationState::operator= ( const RigidRepresentationState rhs)

Copy assignment.

Parameters
rhsRight hand side RigidRepresentationState from which data are copied.
Note
'm_functors' in base class Accessible is NOT copied.
bool SurgSim::Physics::RigidRepresentationState::operator== ( const RigidRepresentationState rhs) const

Comparison operator.

Parameters
rhsA RigidRepresentationState to compare it to
Returns
True if the 2 states are equals, False otherwise
void SurgSim::Physics::RigidRepresentationState::reset ( )

Reset the state to default values Vectors will be filled with 0 Rotations will be set to identity (quaternion or matrix type) If you want to reset to initial values, you need to save them separately in another RigidRepresentationState and assign it to this instance.

void SurgSim::Physics::RigidRepresentationState::setAngularVelocity ( const SurgSim::Math::Vector3d w)

Set the angular velocity.

Parameters
wThe angular velocity
void SurgSim::Physics::RigidRepresentationState::setLinearVelocity ( const SurgSim::Math::Vector3d v)

Set the linear velocity.

Parameters
vThe linear velocity
void SurgSim::Physics::RigidRepresentationState::setPose ( const SurgSim::Math::RigidTransform3d pose)

Set the rigid representation pose.

Parameters
poseThe pose to set the rigid representation to
SurgSim::Physics::RigidRepresentationState::SURGSIM_CLASSNAME ( SurgSim::Physics::RigidRepresentationState  )

Member Data Documentation

SurgSim::Math::RigidTransform3d SurgSim::Physics::RigidRepresentationState::m_pose
private

Rigid representation pose (translation + rotation)

SurgSim::Math::Vector3d SurgSim::Physics::RigidRepresentationState::m_v
private

Linear velocity.

SurgSim::Math::Vector3d SurgSim::Physics::RigidRepresentationState::m_w
private

Angular velocity.


The documentation for this class was generated from the following files: