|
| DivisbleCubeRepresentation (const std::string &name, size_t nodesPerAxis) |
| Constructor. More...
|
|
| Fem3DRepresentation (const std::string &name) |
| Constructor. More...
|
|
virtual | ~Fem3DRepresentation () |
| Destructor. More...
|
|
| SURGSIM_CLASSNAME (SurgSim::Physics::Fem3DRepresentation) |
|
virtual RepresentationType | getType () const override |
| Query the representation type. More...
|
|
virtual void | addExternalGeneralizedForce (std::shared_ptr< Localization > localization, SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix()) override |
| Add an external generalized force applied on a specific localization. More...
|
|
virtual std::shared_ptr< Localization > | createLocalization (const SurgSim::DataStructures::Location &) override |
| Computes a localized coordinate w.r.t this representation, given a Location object. More...
|
|
| FemRepresentation (const std::string &name) |
| Constructor. More...
|
|
virtual | ~FemRepresentation () |
| Destructor. More...
|
|
void | setFilename (const std::string &filename) |
| Sets the name of the file to be loaded. More...
|
|
const std::string & | getFilename () const |
| Gets the name of the file to be loaded. More...
|
|
bool | loadFile () |
| Loads the file. More...
|
|
void | addFemElement (const std::shared_ptr< FemElement > element) |
| Adds a FemElement. More...
|
|
size_t | getNumFemElements () const |
| Gets the number of FemElement. More...
|
|
std::shared_ptr< FemElement > | getFemElement (size_t femElementId) |
| Retrieves a given FemElement from its id. More...
|
|
double | getTotalMass () const |
| Gets the total mass of the fem. More...
|
|
double | getRayleighDampingStiffness () const |
| Gets the Rayleigh stiffness parameter. More...
|
|
double | getRayleighDampingMass () const |
| Gets the Rayleigh mass parameter. More...
|
|
void | setRayleighDampingStiffness (double stiffnessCoef) |
| Sets the Rayleigh stiffness parameter. More...
|
|
void | setRayleighDampingMass (double massCoef) |
| Sets the Rayleigh mass parameter. More...
|
|
bool | isValidCoordinate (const SurgSim::DataStructures::IndexedLocalCoordinate &coordinate) const |
| Determines whether the associated coordinate is valid. More...
|
|
virtual void | beforeUpdate (double dt) override |
| Preprocessing done before the update call. More...
|
|
virtual void | afterUpdate (double dt) override |
| Postprocessing done after the update call. More...
|
|
virtual SurgSim::Math::Vector & | computeF (const SurgSim::Math::OdeState &state) override |
| Evaluation of the RHS function f(x,v) for a given state. More...
|
|
virtual const SurgSim::Math::Matrix & | computeM (const SurgSim::Math::OdeState &state) override |
| Evaluation of the LHS matrix M(x,v) for a given state. More...
|
|
virtual const SurgSim::Math::Matrix & | computeD (const SurgSim::Math::OdeState &state) override |
| Evaluation of D = -df/dv (x,v) for a given state. More...
|
|
virtual const SurgSim::Math::Matrix & | computeK (const SurgSim::Math::OdeState &state) override |
| Evaluation of K = -df/dx (x,v) for a given state. More...
|
|
virtual void | computeFMDK (const SurgSim::Math::OdeState &state, SurgSim::Math::Vector **f, SurgSim::Math::Matrix **M, SurgSim::Math::Matrix **D, SurgSim::Math::Matrix **K) override |
| Evaluation of f(x,v), M(x,v), D = -df/dv(x,v), K = -df/dx(x,v) When all the terms are needed, this method can perform optimization in evaluating everything together. More...
|
|
| DeformableRepresentation (const std::string &name) |
| Constructor. More...
|
|
virtual | ~DeformableRepresentation () |
| Destructor. More...
|
|
virtual void | resetState () override |
| Reset the representation to its initial/default state. More...
|
|
virtual void | setInitialState (std::shared_ptr< SurgSim::Math::OdeState > initialState) |
|
virtual const std::shared_ptr< SurgSim::Math::OdeState > | getCurrentState () const |
|
virtual const std::shared_ptr< SurgSim::Math::OdeState > | getPreviousState () const |
|
virtual const std::shared_ptr< SurgSim::Math::OdeState > | getFinalState () const |
|
size_t | getNumDofPerNode () const |
| Gets the number of degrees of freedom per node. More...
|
|
void | setIntegrationScheme (SurgSim::Math::IntegrationScheme integrationScheme) |
| Sets the numerical integration scheme. More...
|
|
SurgSim::Math::IntegrationScheme | getIntegrationScheme () const |
| Gets the numerical integration scheme. More...
|
|
const SurgSim::Math::Vector & | getExternalGeneralizedForce () const |
|
const SurgSim::Math::Matrix & | getExternalGeneralizedStiffness () const |
|
const SurgSim::Math::Matrix & | getExternalGeneralizedDamping () const |
|
const SurgSim::Math::Matrix & | getComplianceMatrix () const |
| Gets the compliance matrix associated with motion. More...
|
|
virtual void | update (double dt) override |
| Update the representation state to the current time step. More...
|
|
virtual void | applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity) override |
| Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...
|
|
void | deactivateAndReset (void) |
| Deactivate and call resetState. More...
|
|
virtual void | setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation) override |
| Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation. More...
|
|
| Representation (const std::string &name) |
| Constructor. More...
|
|
virtual | ~Representation () |
| Destructor. More...
|
|
virtual void | resetParameters () |
| Reset the representation parameters to their initial/default values. More...
|
|
size_t | getNumDof () const |
| Query the object number of degrees of freedom. More...
|
|
void | setIsGravityEnabled (bool isGravityEnabled) |
| Set the gravity enable flag. More...
|
|
bool | isGravityEnabled () const |
| Get the gravity enable flag. More...
|
|
void | setIsDrivingSceneElementPose (bool isDrivingSceneElementPose) |
| Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...
|
|
bool | isDrivingSceneElementPose () |
| Query if this Representation is controlling the pose of the SceneElement that it is part of. More...
|
|
std::shared_ptr< SurgSim::Collision::Representation > | getCollisionRepresentation () const |
|
| Representation (const std::string &name) |
| Constructor. More...
|
|
virtual void | setLocalPose (const SurgSim::Math::RigidTransform3d &pose) |
| Set the pose of the representation with respect to the Scene Element. More...
|
|
virtual SurgSim::Math::RigidTransform3d | getLocalPose () const |
| Get the pose of the representation with respect to the Scene Element. More...
|
|
virtual SurgSim::Math::RigidTransform3d | getPose () const |
| Get the pose of the representation in world coordinates. More...
|
|
| 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< Scene > | getScene () |
| Gets the scene. More...
|
|
void | setSceneElement (std::weak_ptr< SceneElement > sceneElement) |
| Sets the scene element. More...
|
|
std::shared_ptr< SceneElement > | getSceneElement () |
| Gets the scene element. More...
|
|
std::shared_ptr< const SceneElement > | getSceneElement () const |
| Gets the scene element, constant version. More...
|
|
std::shared_ptr< Runtime > | getRuntime () 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< Component > | getSharedPtr () |
| 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 |
|
| Accessible () |
| Default Constructor. More...
|
|
| ~Accessible () |
| Destructor. More...
|
|
template<class T > |
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 |
|
virtual | ~OdeEquation () |
| Virtual destructor. More...
|
|
const std::shared_ptr< OdeState > | getInitialState () const |
| Retrieves the ode initial conditions (x0, v0) (i.e. More...
|
|