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

The VirtualToolCoupler couples a rigid object to an input/output device through a spring and damper. More...

#include <SurgSim/Physics/VirtualToolCoupler.h>

Inheritance diagram for SurgSim::Physics::VirtualToolCoupler:
SurgSim::Framework::Behavior SurgSim::Framework::Component SurgSim::Framework::Accessible

Public Member Functions

 VirtualToolCoupler (const std::string &name)
 Constructor. More...
 
 ~VirtualToolCoupler ()
 
 SURGSIM_CLASSNAME (SurgSim::Physics::VirtualToolCoupler)
 
const std::shared_ptr< SurgSim::Framework::ComponentgetInput ()
 
void setInput (const std::shared_ptr< SurgSim::Framework::Component > input)
 Set the Input Component. More...
 
const std::shared_ptr< SurgSim::Framework::ComponentgetOutput ()
 
void setOutput (const std::shared_ptr< SurgSim::Framework::Component > output)
 Set the Output Component (if any) More...
 
const std::shared_ptr< SurgSim::Framework::ComponentgetRepresentation ()
 
void setRepresentation (const std::shared_ptr< SurgSim::Framework::Component > rigid)
 Set the Physics Representation which follows the input. More...
 
const std::string & getPoseName ()
 
void setPoseName (const std::string &poseName=SurgSim::DataStructures::Names::POSE)
 Set the name of the pose entry in the input DataGroup. More...
 
virtual void update (double dt) override
 Update the behavior. More...
 
void overrideLinearStiffness (double linearStiffness)
 Override the linear stiffness connecting the input device and the physics representation If this value is not provided, the stiffness will be automatically tuned using the properties of the Representation. More...
 
double getLinearStiffness ()
 
void overrideLinearDamping (double linearDamping)
 Override the linear damping connecting the input device and the physics representation If this value is not provided, the damping will be automatically tuned using the properties of the Representation. More...
 
double getLinearDamping ()
 
void overrideAngularStiffness (double angularStiffness)
 Override the angular stiffness connecting the input device and the physics representation If this value is not provided, the stiffness will be automatically tuned using the properties of the Representation. More...
 
double getAngularStiffness ()
 
void overrideAngularDamping (double angularDamping)
 Override the angular damping connecting the input device and the physics representation If this value is not provided, the damping will be automatically tuned using the properties of the Representation. More...
 
double getAngularDamping ()
 
void overrideAttachmentPoint (const SurgSim::Math::Vector3d &attachment)
 Override the point of attachment to the Representation If this value is not provided, the point of attachment will be automatically set to the Representation's center of mass. More...
 
const SurgSim::Math::Vector3dgetAttachmentPoint ()
 Get the point of attachment on the Representation. More...
 
void setCalculateInertialTorques (bool calculateInertialTorques)
 Enable/disable torques that simulate inertia. More...
 
bool getCalculateInertialTorques () const
 Get whether the calculated torques will simulate inertia. More...
 
- Public Member Functions inherited from SurgSim::Framework::Behavior
 Behavior (const std::string &name)
 
virtual ~Behavior ()
 
- Public Member Functions inherited from SurgSim::Framework::Component
 Component (const std::string &name)
 Constructor. More...
 
virtual ~Component ()
 Destructor. More...
 
std::string getName () const
 Gets component name. More...
 
void setName (const std::string &name)
 Sets the name of component. More...
 
boost::uuids::uuid getUuid () const
 Gets the id of the component. More...
 
bool isInitialized () const
 
bool initialize (const std::weak_ptr< Runtime > &runtime)
 Initialize this component, this needs to be called before wakeUp() can be called. More...
 
bool isAwake () const
 
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...
 
void setScene (std::weak_ptr< Scene > scene)
 Sets the scene. More...
 
std::shared_ptr< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const SceneElementgetSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () const
 Get the runtime which contains this component. More...
 
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...
 
std::shared_ptr< ComponentgetSharedPtr ()
 Gets a shared pointer to this component. More...
 
bool isActive () const
 
virtual void setLocalActive (bool val)
 Set the component's active state. More...
 
bool isLocalActive () const
 
- 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
 

Protected Member Functions

virtual bool doInitialize () override
 Interface to be implemented by derived classes. More...
 
virtual bool doWakeUp () override
 Interface to be implemented by derived classes. More...
 
virtual int getTargetManagerType () const override
 Specifies which manger will handle this behavior. More...
 
virtual SurgSim::DataStructures::DataGroup buildOutputData ()
 
void setOptionalLinearStiffness (const SurgSim::DataStructures::OptionalValue< double > &linearStiffness)
 Used for Serialization. More...
 
const SurgSim::DataStructures::OptionalValue< double > & getOptionalLinearStiffness () const
 Used for Serialization. More...
 
void setOptionalLinearDamping (const SurgSim::DataStructures::OptionalValue< double > &linearDamping)
 Used for Serialization. More...
 
const SurgSim::DataStructures::OptionalValue< double > & getOptionalLinearDamping () const
 Used for Serialization. More...
 
void setOptionalAngularStiffness (const SurgSim::DataStructures::OptionalValue< double > &angularStiffness)
 Used for Serialization. More...
 
const SurgSim::DataStructures::OptionalValue< double > & getOptionalAngularStiffness () const
 Used for Serialization. More...
 
void setOptionalAngularDamping (const SurgSim::DataStructures::OptionalValue< double > &angularDamping)
 Used for Serialization. More...
 
const SurgSim::DataStructures::OptionalValue< double > & getOptionalAngularDamping () const
 Used for Serialization. More...
 
void setOptionalAttachmentPoint (const SurgSim::DataStructures::OptionalValue< SurgSim::Math::Vector3d > &attachmentPoint)
 Used for Serialization. More...
 
const SurgSim::DataStructures::OptionalValue< SurgSim::Math::Vector3d > & getOptionalAttachmentPoint () const
 Used for Serialization. More...
 
- Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponentgetPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const PoseComponentgetPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 

Protected Attributes

SurgSim::DataStructures::OptionalValue< double > m_optionalLinearStiffness
 User supplied Vtc stiffness parameter in linear mode (in N·m-1) More...
 
SurgSim::DataStructures::OptionalValue< double > m_optionalLinearDamping
 User supplied Vtc damping parameter in linear mode (in N·s·m-1 or Kg·s-1) More...
 
SurgSim::DataStructures::OptionalValue< double > m_optionalAngularStiffness
 User supplied Vtc stiffness parameter in angular mode (in N·m rad-1) More...
 
SurgSim::DataStructures::OptionalValue< double > m_optionalAngularDamping
 User supplied Vtc damping parameter in angular mode (in N·m·s·rad-1) More...
 
SurgSim::DataStructures::OptionalValue< SurgSim::Math::Vector3dm_optionalAttachmentPoint
 User supplied attachment point. More...
 
SurgSim::DataStructures::DataGroup m_outputData
 The DataGroup to output. More...
 
std::shared_ptr< SurgSim::Input::InputComponentm_input
 The input component. More...
 
std::shared_ptr< SurgSim::Input::OutputComponentm_output
 The output component. More...
 

Private Attributes

std::shared_ptr< SurgSim::Physics::RigidRepresentationm_rigid
 
std::string m_poseName
 
double m_linearStiffness
 Used Vtc stiffness parameter in linear mode (in N·m-1) More...
 
double m_linearDamping
 Used Vtc damping parameter in linear mode (in N·s·m-1 or Kg·s-1) More...
 
double m_angularStiffness
 Used Vtc stiffness parameter in angular mode (in N·m rad-1) More...
 
double m_angularDamping
 Used Vtc damping parameter in angular mode (in N·m·s·rad-1) More...
 
double m_outputForceScaling
 Scaling factor for the forces sent to the OutputComponent. More...
 
double m_outputTorqueScaling
 Scaling factor for the torques sent to the OutputComponent. More...
 
SurgSim::Math::Vector3d m_localAttachmentPoint
 The input's point of attachment in the local frame, i.e., the same frame in which the mass center is defined. More...
 
bool m_calculateInertialTorques
 Whether or not the calculated torques will simulate inertia. More...
 
int m_poseIndex
 
int m_linearVelocityIndex
 
int m_angularVelocityIndex
 
int m_forceIndex
 
int m_torqueIndex
 
int m_inputLinearVelocityIndex
 
int m_inputAngularVelocityIndex
 
int m_inputPoseIndex
 
int m_springJacobianIndex
 
int m_damperJacobianIndex
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Component
typedef SurgSim::Framework::ObjectFactory1< SurgSim::Framework::Component, std::string > FactoryType
 
- 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
 
- Static Public Member Functions inherited from SurgSim::Framework::Component
static FactoryTypegetFactory ()
 

Detailed Description

The VirtualToolCoupler couples a rigid object to an input/output device through a spring and damper.

If the device will output forces and/or torques, we pass it a force (and/or torque) as well as the derivatives (Jacobians) of the force with respect to position and velocity, so that the device can recalculate its forces at its update rate.

Constructor & Destructor Documentation

SurgSim::Physics::VirtualToolCoupler::VirtualToolCoupler ( const std::string &  name)
explicit

Constructor.

Parameters
nameName of the behavior
SurgSim::Physics::VirtualToolCoupler::~VirtualToolCoupler ( )

Member Function Documentation

SurgSim::DataStructures::DataGroup SurgSim::Physics::VirtualToolCoupler::buildOutputData ( )
protectedvirtual
Returns
The DataGroup to be sent to the device via the OutputComponent.
bool SurgSim::Physics::VirtualToolCoupler::doInitialize ( )
overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns
True if component is initialized successfully; otherwise, false.

Implements SurgSim::Framework::Component.

bool SurgSim::Physics::VirtualToolCoupler::doWakeUp ( )
overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns
True if component is woken up successfully; otherwise, false.

Implements SurgSim::Framework::Component.

double SurgSim::Physics::VirtualToolCoupler::getAngularDamping ( )
Returns
The damping of the vtc in angular mode (in N·m·s·rad-1)
double SurgSim::Physics::VirtualToolCoupler::getAngularStiffness ( )
Returns
The stiffness of the vtc in angular mode (in N·m rad-1)
const SurgSim::Math::Vector3d & SurgSim::Physics::VirtualToolCoupler::getAttachmentPoint ( )

Get the point of attachment on the Representation.

Returns
The attachment point in the Representations local coordinate frame
bool SurgSim::Physics::VirtualToolCoupler::getCalculateInertialTorques ( ) const

Get whether the calculated torques will simulate inertia.

This setting only has an effect if the attachment point is not the mass center.

See also
overrideAttachmentPoint
Returns
true if inertia is being simulated.
const std::shared_ptr< SurgSim::Framework::Component > SurgSim::Physics::VirtualToolCoupler::getInput ( )
Returns
Input Component to get the pose from
double SurgSim::Physics::VirtualToolCoupler::getLinearDamping ( )
Returns
The damping of the vtc in linear mode (in N·s·m-1 or Kg·s-1)
double SurgSim::Physics::VirtualToolCoupler::getLinearStiffness ( )
Returns
The stiffness of the vtc in linear mode (in N·m-1)
const SurgSim::DataStructures::OptionalValue< double > & SurgSim::Physics::VirtualToolCoupler::getOptionalAngularDamping ( ) const
protected

Used for Serialization.

Returns
The OptionalValue object containing the damping of the vtc in angular mode (in N·m·s·rad-1)
const SurgSim::DataStructures::OptionalValue< double > & SurgSim::Physics::VirtualToolCoupler::getOptionalAngularStiffness ( ) const
protected

Used for Serialization.

Returns
The OptionalValue object containing the stiffness of the vtc in angular mode (in N·m rad-1)
const SurgSim::DataStructures::OptionalValue< SurgSim::Math::Vector3d > & SurgSim::Physics::VirtualToolCoupler::getOptionalAttachmentPoint ( ) const
protected

Used for Serialization.

Returns
The OptionalValue object containing the attachment point.
const SurgSim::DataStructures::OptionalValue< double > & SurgSim::Physics::VirtualToolCoupler::getOptionalLinearDamping ( ) const
protected

Used for Serialization.

Returns
The OptionalValue object containing the damping of the vtc in linear mode (in N·s·m-1 or Kg·s-1)
const SurgSim::DataStructures::OptionalValue< double > & SurgSim::Physics::VirtualToolCoupler::getOptionalLinearStiffness ( ) const
protected

Used for Serialization.

Returns
The OptionalValue object containing the stiffness of the vtc in linear mode (in N·m-1)
const std::shared_ptr< SurgSim::Framework::Component > SurgSim::Physics::VirtualToolCoupler::getOutput ( )
Returns
Output Component to send forces and torques
const std::string & SurgSim::Physics::VirtualToolCoupler::getPoseName ( )
Returns
Name of the pose data in the input to transfer
const std::shared_ptr< SurgSim::Framework::Component > SurgSim::Physics::VirtualToolCoupler::getRepresentation ( )
Returns
Rigid Representation that provides state and receives external forces and torques
int SurgSim::Physics::VirtualToolCoupler::getTargetManagerType ( ) const
overrideprotectedvirtual

Specifies which manger will handle this behavior.

Reimplemented from SurgSim::Framework::Behavior.

void SurgSim::Physics::VirtualToolCoupler::overrideAngularDamping ( double  angularDamping)

Override the angular damping connecting the input device and the physics representation If this value is not provided, the damping will be automatically tuned using the properties of the Representation.

Parameters
angularDampingThe damping of the vtc in angular mode (in N·m·s·rad-1)
void SurgSim::Physics::VirtualToolCoupler::overrideAngularStiffness ( double  angularStiffness)

Override the angular stiffness connecting the input device and the physics representation If this value is not provided, the stiffness will be automatically tuned using the properties of the Representation.

Parameters
angularStiffnessThe stiffness of the vtc in angular mode (in N·m rad-1)
void SurgSim::Physics::VirtualToolCoupler::overrideAttachmentPoint ( const SurgSim::Math::Vector3d attachment)

Override the point of attachment to the Representation If this value is not provided, the point of attachment will be automatically set to the Representation's center of mass.

Parameters
attachmentThe attachment point in the Representations local coordinate frame
void SurgSim::Physics::VirtualToolCoupler::overrideLinearDamping ( double  linearDamping)

Override the linear damping connecting the input device and the physics representation If this value is not provided, the damping will be automatically tuned using the properties of the Representation.

Parameters
linearDampingThe damping of the vtc in linear mode (in N·s·m-1 or Kg·s-1)
void SurgSim::Physics::VirtualToolCoupler::overrideLinearStiffness ( double  linearStiffness)

Override the linear stiffness connecting the input device and the physics representation If this value is not provided, the stiffness will be automatically tuned using the properties of the Representation.

Parameters
linearStiffnessThe stiffness of the vtc in linear mode (in N·m-1)
void SurgSim::Physics::VirtualToolCoupler::setCalculateInertialTorques ( bool  calculateInertialTorques)

Enable/disable torques that simulate inertia.

This setting only has an effect if the attachment point is not the mass center.

See also
overrideAttachmentPoint
Parameters
calculateInertialTorquestrue to simulate inertia.
void SurgSim::Physics::VirtualToolCoupler::setInput ( const std::shared_ptr< SurgSim::Framework::Component input)

Set the Input Component.

Parameters
inputInput Component to get the pose from
void SurgSim::Physics::VirtualToolCoupler::setOptionalAngularDamping ( const SurgSim::DataStructures::OptionalValue< double > &  angularDamping)
protected

Used for Serialization.

Parameters
angularDampingThe OptionalValue object containing the damping of the vtc in angular mode (in N·m·s·rad-1)
void SurgSim::Physics::VirtualToolCoupler::setOptionalAngularStiffness ( const SurgSim::DataStructures::OptionalValue< double > &  angularStiffness)
protected

Used for Serialization.

Parameters
angularStiffnessThe OptionalValue object containing the stiffness of the vtc in angular mode (in N·m rad-1)
void SurgSim::Physics::VirtualToolCoupler::setOptionalAttachmentPoint ( const SurgSim::DataStructures::OptionalValue< SurgSim::Math::Vector3d > &  attachmentPoint)
protected

Used for Serialization.

Parameters
attachmentPointThe OptionalValue object containing the attachment point.
void SurgSim::Physics::VirtualToolCoupler::setOptionalLinearDamping ( const SurgSim::DataStructures::OptionalValue< double > &  linearDamping)
protected

Used for Serialization.

Parameters
linearDampingThe OptionalValue object containing the damping of the vtc in linear mode (in N·s·m-1 or Kg·s-1)
void SurgSim::Physics::VirtualToolCoupler::setOptionalLinearStiffness ( const SurgSim::DataStructures::OptionalValue< double > &  linearStiffness)
protected

Used for Serialization.

Parameters
linearStiffnessThe OptionalValue object containing the stiffness of the vtc in linear mode (in N·m-1)
void SurgSim::Physics::VirtualToolCoupler::setOutput ( const std::shared_ptr< SurgSim::Framework::Component output)

Set the Output Component (if any)

Parameters
outputOutput Component to send forces and torques
void SurgSim::Physics::VirtualToolCoupler::setPoseName ( const std::string &  poseName = SurgSim::DataStructures::Names::POSE)

Set the name of the pose entry in the input DataGroup.

Parameters
poseNameName of the pose data in the input to transfer
void SurgSim::Physics::VirtualToolCoupler::setRepresentation ( const std::shared_ptr< SurgSim::Framework::Component rigid)

Set the Physics Representation which follows the input.

Parameters
rigidRigid Representation that provides state and receives external forces and torques
SurgSim::Physics::VirtualToolCoupler::SURGSIM_CLASSNAME ( SurgSim::Physics::VirtualToolCoupler  )
void SurgSim::Physics::VirtualToolCoupler::update ( double  dt)
overridevirtual

Update the behavior.

Parameters
dtThe length of time (seconds) between update calls.

Implements SurgSim::Framework::Behavior.

Member Data Documentation

double SurgSim::Physics::VirtualToolCoupler::m_angularDamping
private

Used Vtc damping parameter in angular mode (in N·m·s·rad-1)

double SurgSim::Physics::VirtualToolCoupler::m_angularStiffness
private

Used Vtc stiffness parameter in angular mode (in N·m rad-1)

int SurgSim::Physics::VirtualToolCoupler::m_angularVelocityIndex
private

Cached DataGroup indices.

bool SurgSim::Physics::VirtualToolCoupler::m_calculateInertialTorques
private

Whether or not the calculated torques will simulate inertia.

This setting only has an effect if the device input point is not the mass center.

int SurgSim::Physics::VirtualToolCoupler::m_damperJacobianIndex
private

Cached DataGroup indices.

int SurgSim::Physics::VirtualToolCoupler::m_forceIndex
private

Cached DataGroup indices.

std::shared_ptr<SurgSim::Input::InputComponent> SurgSim::Physics::VirtualToolCoupler::m_input
protected

The input component.

int SurgSim::Physics::VirtualToolCoupler::m_inputAngularVelocityIndex
private

Cached DataGroup indices.

int SurgSim::Physics::VirtualToolCoupler::m_inputLinearVelocityIndex
private

Cached DataGroup indices.

int SurgSim::Physics::VirtualToolCoupler::m_inputPoseIndex
private

Cached DataGroup indices.

double SurgSim::Physics::VirtualToolCoupler::m_linearDamping
private

Used Vtc damping parameter in linear mode (in N·s·m-1 or Kg·s-1)

double SurgSim::Physics::VirtualToolCoupler::m_linearStiffness
private

Used Vtc stiffness parameter in linear mode (in N·m-1)

int SurgSim::Physics::VirtualToolCoupler::m_linearVelocityIndex
private

Cached DataGroup indices.

SurgSim::Math::Vector3d SurgSim::Physics::VirtualToolCoupler::m_localAttachmentPoint
private

The input's point of attachment in the local frame, i.e., the same frame in which the mass center is defined.

SurgSim::DataStructures::OptionalValue<double> SurgSim::Physics::VirtualToolCoupler::m_optionalAngularDamping
protected

User supplied Vtc damping parameter in angular mode (in N·m·s·rad-1)

SurgSim::DataStructures::OptionalValue<double> SurgSim::Physics::VirtualToolCoupler::m_optionalAngularStiffness
protected

User supplied Vtc stiffness parameter in angular mode (in N·m rad-1)

SurgSim::DataStructures::OptionalValue<SurgSim::Math::Vector3d> SurgSim::Physics::VirtualToolCoupler::m_optionalAttachmentPoint
protected

User supplied attachment point.

SurgSim::DataStructures::OptionalValue<double> SurgSim::Physics::VirtualToolCoupler::m_optionalLinearDamping
protected

User supplied Vtc damping parameter in linear mode (in N·s·m-1 or Kg·s-1)

SurgSim::DataStructures::OptionalValue<double> SurgSim::Physics::VirtualToolCoupler::m_optionalLinearStiffness
protected

User supplied Vtc stiffness parameter in linear mode (in N·m-1)

std::shared_ptr<SurgSim::Input::OutputComponent> SurgSim::Physics::VirtualToolCoupler::m_output
protected

The output component.

SurgSim::DataStructures::DataGroup SurgSim::Physics::VirtualToolCoupler::m_outputData
protected

The DataGroup to output.

double SurgSim::Physics::VirtualToolCoupler::m_outputForceScaling
private

Scaling factor for the forces sent to the OutputComponent.

double SurgSim::Physics::VirtualToolCoupler::m_outputTorqueScaling
private

Scaling factor for the torques sent to the OutputComponent.

int SurgSim::Physics::VirtualToolCoupler::m_poseIndex
private

Cached DataGroup indices.

std::string SurgSim::Physics::VirtualToolCoupler::m_poseName
private
std::shared_ptr<SurgSim::Physics::RigidRepresentation> SurgSim::Physics::VirtualToolCoupler::m_rigid
private
int SurgSim::Physics::VirtualToolCoupler::m_springJacobianIndex
private

Cached DataGroup indices.

int SurgSim::Physics::VirtualToolCoupler::m_torqueIndex
private

Cached DataGroup indices.


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