16 #ifndef SURGSIM_PHYSICS_LOCALIZATION_H
17 #define SURGSIM_PHYSICS_LOCALIZATION_H
41 explicit Localization(std::shared_ptr<Representation> representation);
56 SURGSIM_ASSERT(
false) <<
"Unexpected representation type" << std::endl;
92 #endif // SURGSIM_PHYSICS_LOCALIZATION_H
std::shared_ptr< Representation > m_representation
The representation on which the localization is defined.
Definition: Localization.h:85
Definition: DriveElementFromInputBehavior.cpp:27
SurgSim::Math::Vector3d calculatePosition(double time=1.0)
Calculates the global position of this localization.
Definition: Localization.h:71
#define SURGSIM_ASSERT(condition)
Assert that condition is true.
Definition: Assert.h:77
std::shared_ptr< Representation > getRepresentation() const
Gets the representation.
Definition: Localization.h:62
void setRepresentation(std::shared_ptr< Representation > representation)
Sets the representation.
Definition: Localization.h:48
virtual ~Localization()
Destructor.
Definition: Localization.cpp:30
Localization()
Default constructor.
Definition: Localization.cpp:22
The header that provides the assertion API.
Definitions of small fixed-size vector types.
virtual SurgSim::Math::Vector3d doCalculatePosition(double time)=0
Calculates the global position of this localization.
virtual bool isValidRepresentation(std::shared_ptr< Representation > representation)
Definition: Localization.cpp:34
This class localize a point on a representation (representation specific)
Definition: Localization.h:33
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:56