16 #ifndef SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H
17 #define SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H
33 class OutputComponent;
39 class RigidRepresentation;
58 const std::shared_ptr<SurgSim::Framework::Component>
getInput();
62 void setInput(
const std::shared_ptr<SurgSim::Framework::Component> input);
65 const std::shared_ptr<SurgSim::Framework::Component>
getOutput();
69 void setOutput(
const std::shared_ptr<SurgSim::Framework::Component> output);
76 void setRepresentation(
const std::shared_ptr<SurgSim::Framework::Component> rigid);
83 void setPoseName(
const std::string& poseName = SurgSim::DataStructures::Names::POSE);
85 virtual void update(
double dt)
override;
216 std::shared_ptr<SurgSim::Input::InputComponent>
m_input;
219 std::shared_ptr<SurgSim::Input::OutputComponent>
m_output;
222 std::shared_ptr<SurgSim::Physics::RigidRepresentation>
m_rigid;
269 #endif // SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H
Definition: DriveElementFromInputBehavior.cpp:27
A collection of NamedData objects.
Definition: DataGroup.h:66
Behaviors perform actions.
Definition: Behavior.h:40
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:56
SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation)