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

MassSpring model is a deformable model (a set of masses connected by springs). More...

#include <SurgSim/Physics/MassSpringRepresentation.h>

Inheritance diagram for SurgSim::Physics::MassSpringRepresentation:
SurgSim::Physics::DeformableRepresentation SurgSim::Physics::Representation SurgSim::Math::OdeEquation SurgSim::Framework::Representation SurgSim::Framework::Component SurgSim::Framework::Accessible SurgSim::Blocks::MassSpring1DRepresentation SurgSim::Blocks::MassSpring2DRepresentation SurgSim::Blocks::MassSpring3DRepresentation

Public Member Functions

 MassSpringRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~MassSpringRepresentation ()
 Destructor. More...
 
void addMass (const std::shared_ptr< Mass > mass)
 Adds a mass. More...
 
void addSpring (const std::shared_ptr< Spring > spring)
 Adds a spring. More...
 
size_t getNumMasses () const
 Gets the number of masses. More...
 
size_t getNumSprings () const
 Gets the number of springs. More...
 
std::shared_ptr< MassgetMass (size_t nodeId)
 Retrieves the mass of a given node. More...
 
std::shared_ptr< SpringgetSpring (size_t springId)
 Retrieves a given spring from its id. More...
 
double getTotalMass () const
 Gets the total mass of the mass spring. 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...
 
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 void beforeUpdate (double dt) override
 Preprocessing done before the update call. More...
 
virtual SurgSim::Math::VectorcomputeF (const SurgSim::Math::OdeState &state) override
 Evaluation of the RHS function f(x,v) for a given state. More...
 
virtual const SurgSim::Math::MatrixcomputeM (const SurgSim::Math::OdeState &state) override
 Evaluation of the LHS matrix M(x,v) for a given state. More...
 
virtual const SurgSim::Math::MatrixcomputeD (const SurgSim::Math::OdeState &state) override
 Evaluation of D = -df/dv (x,v) for a given state. More...
 
virtual const SurgSim::Math::MatrixcomputeK (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...
 
- Public Member Functions inherited from SurgSim::Physics::DeformableRepresentation
 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::OdeStategetCurrentState () const
 
virtual const std::shared_ptr< SurgSim::Math::OdeStategetPreviousState () const
 
virtual const std::shared_ptr< SurgSim::Math::OdeStategetFinalState () 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::VectorgetExternalGeneralizedForce () const
 
const SurgSim::Math::MatrixgetExternalGeneralizedStiffness () const
 
const SurgSim::Math::MatrixgetExternalGeneralizedDamping () const
 
const SurgSim::Math::MatrixgetComplianceMatrix () 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 afterUpdate (double dt) override
 Postprocessing done after the update call This needs to be called from the outside usually from a Computation. 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...
 
- Public Member Functions inherited from SurgSim::Physics::Representation
 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...
 
virtual std::shared_ptr< LocalizationcreateLocalization (const SurgSim::DataStructures::Location &location)
 Computes a localized coordinate w.r.t this representation, given a Location object. More...
 
std::shared_ptr< SurgSim::Collision::RepresentationgetCollisionRepresentation () const
 
- Public Member Functions inherited from SurgSim::Framework::Representation
 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...
 
- 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
 
- Public Member Functions inherited from SurgSim::Math::OdeEquation
virtual ~OdeEquation ()
 Virtual destructor. More...
 
const std::shared_ptr< OdeStategetInitialState () const
 Retrieves the ode initial conditions (x0, v0) (i.e. More...
 

Protected Member Functions

void addRayleighDampingForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, bool useGlobalStiffnessMatrix=false, bool useGlobalMassMatrix=false, double scale=1.0)
 Add the Rayleigh damping forces. More...
 
void addSpringsForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
 Add the springs force to f (given a state) More...
 
void addGravityForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
 Add the gravity force to f (given a state) More...
 
void transformState (std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform)
 Transform a state using a given transformation. More...
 
- Protected Member Functions inherited from SurgSim::Physics::DeformableRepresentation
virtual bool doWakeUp () override
 Interface to be implemented by derived classes. More...
 
- Protected Member Functions inherited from SurgSim::Physics::Representation
void setNumDof (size_t numDof)
 Set the number of degrees of freedom. More...
 
const SurgSim::Math::Vector3dgetGravity () const
 Get the gravity used by this Representation. More...
 
void driveSceneElementPose (const SurgSim::Math::RigidTransform3d &pose)
 This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true. 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...
 

Private Attributes

std::vector< std::shared_ptr< Mass > > m_masses
 Masses. More...
 
std::vector< std::shared_ptr< Spring > > m_springs
 Springs. More...
 
struct {
   double   massCoefficient
 
   double   stiffnessCoefficient
 
m_rayleighDamping
 Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient.M + stiffnessCoefficient.K Matrices: D = damping, M = mass, K = stiffness. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Component
typedef SurgSim::Framework::ObjectFactory1< SurgSim::Framework::Component, std::stringFactoryType
 
- 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 ()
 
- Protected Attributes inherited from SurgSim::Physics::DeformableRepresentation
std::shared_ptr< SurgSim::Math::OdeStatem_previousState
 The previous state inside the calculation loop, this has no meaning outside of the loop. More...
 
std::shared_ptr< SurgSim::Math::OdeStatem_currentState
 The currently calculated state inside the physics loop, after the whole calculation is done this will become m_finalState. More...
 
std::shared_ptr< SurgSim::Math::OdeStatem_newState
 New state is a temporary variable to store the newly computed state. More...
 
std::shared_ptr< SurgSim::Math::OdeStatem_finalState
 Last valid state (a.k.a final state) More...
 
SurgSim::Math::Vector m_f
 Force applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_M
 Mass matrix. More...
 
SurgSim::Math::Matrix m_D
 Damping matrix. More...
 
SurgSim::Math::Matrix m_K
 Stiffness matrix. More...
 
size_t m_numDofPerNode
 Number of degrees of freedom per node (varies per deformable model) More...
 
SurgSim::Math::IntegrationScheme m_integrationScheme
 Numerical Integration scheme (dynamic explicit/implicit solver) More...
 
bool m_needToReloadOdeSolver
 Specify if the Ode Solver needs to be (re)loaded (do not exist yet, or integration scheme has changed) More...
 
std::shared_ptr< SurgSim::Math::OdeSolverm_odeSolver
 Ode solver (its type depends on the numerical integration scheme) More...
 
SurgSim::Math::Vector m_externalGeneralizedForce
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_externalGeneralizedStiffness
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
SurgSim::Math::Matrix m_externalGeneralizedDamping
 External generalized force, stiffness and damping applied on the deformable representation. More...
 
- Protected Attributes inherited from SurgSim::Physics::Representation
std::shared_ptr< SurgSim::Collision::Representationm_collisionRepresentation
 This entity's collision representation, these are usually very specific to the physics representation. More...
 
- Protected Attributes inherited from SurgSim::Math::OdeEquation
std::shared_ptr< OdeStatem_initialState
 The initial state (which defines the ODE initial conditions (x0, v0)) More...
 

Detailed Description

MassSpring model is a deformable model (a set of masses connected by springs).

Note
A MassSpring is a DeformableRepresentation (Physics::Representation and Math::OdeEquation)
Therefore, it defines a dynamic system M.a=F(x,v) with the particularity that M is diagonal
The model handles damping through the Rayleigh damping (where damping is a combination of mass and stiffness)

Constructor & Destructor Documentation

SurgSim::Physics::MassSpringRepresentation::MassSpringRepresentation ( const std::string name)
explicit

Constructor.

Parameters
nameThe name of the MassSpringRepresentation
SurgSim::Physics::MassSpringRepresentation::~MassSpringRepresentation ( )
virtual

Destructor.

Member Function Documentation

void SurgSim::Physics::MassSpringRepresentation::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() 
)
overridevirtual

Add an external generalized force applied on a specific localization.

Parameters
localizationwhere the generalized force is applied
generalizedForceThe force to apply (of dimension getNumDofPerNode())
KThe stiffness matrix associated with the generalized force (Jacobian of the force w.r.t dof's position)
DThe damping matrix associated with the generalized force (Jacobian of the force w.r.t dof's velocity)

Implements SurgSim::Physics::DeformableRepresentation.

void SurgSim::Physics::MassSpringRepresentation::addGravityForce ( SurgSim::Math::Vector f,
const SurgSim::Math::OdeState state,
double  scale = 1.0 
)
protected

Add the gravity force to f (given a state)

Parameters
[in,out]fThe force vector to cumulate the gravity force into
stateThe state vector containing positions and velocities
scaleA scaling factor to scale the gravity force with
Note
This method does not do anything if gravity is disabled
void SurgSim::Physics::MassSpringRepresentation::addMass ( const std::shared_ptr< Mass mass)

Adds a mass.

Parameters
massThe mass to add to the representation
Note
Masses are kept in an ordered list, giving them an index
This mass will be associated with the node of same index in any associated OdeState
void SurgSim::Physics::MassSpringRepresentation::addRayleighDampingForce ( SurgSim::Math::Vector f,
const SurgSim::Math::OdeState state,
bool  useGlobalStiffnessMatrix = false,
bool  useGlobalMassMatrix = false,
double  scale = 1.0 
)
protected

Add the Rayleigh damping forces.

Parameters
[in,out]fThe force vector to cumulate the Rayleigh damping force into
stateThe state vector containing positions and velocities
useGlobalMassMatrix,useGlobalStiffnessMatrixTrue indicates that the global mass and stiffness matrices should be used (F = -c.M.v - d.K.v)
scaleA scaling factor to apply on the damping force
Note
Damping matrix D = c.M + d.K (Rayleigh damping definition)
F = - D.v = -c.M.v - d.K.v
If {useGlobalMassMatrix | useGlobalStiffnessMatrix} is True, {M | K} will be used, otherwise
the {mass|stiffness} component will be computed FemElement by FemElement
void SurgSim::Physics::MassSpringRepresentation::addSpring ( const std::shared_ptr< Spring spring)

Adds a spring.

Parameters
springThe spring to add to the representation
void SurgSim::Physics::MassSpringRepresentation::addSpringsForce ( SurgSim::Math::Vector f,
const SurgSim::Math::OdeState state,
double  scale = 1.0 
)
protected

Add the springs force to f (given a state)

Parameters
[in,out]fThe force vector to cumulate the spring forces into
stateThe state vector containing positions and velocities
scaleA scaling factor to scale the spring forces with
void SurgSim::Physics::MassSpringRepresentation::beforeUpdate ( double  dt)
overridevirtual

Preprocessing done before the update call.

Parameters
dtThe time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

const Matrix & SurgSim::Physics::MassSpringRepresentation::computeD ( const SurgSim::Math::OdeState state)
overridevirtual

Evaluation of D = -df/dv (x,v) for a given state.

Parameters
state(x, v) the current position and velocity to evaluate the Jacobian matrix with
Returns
The matrix D = -df/dv(x,v)
Note
Returns a reference, its values will remain unchanged until the next call to computeD() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

Vector & SurgSim::Physics::MassSpringRepresentation::computeF ( const SurgSim::Math::OdeState state)
overridevirtual

Evaluation of the RHS function f(x,v) for a given state.

Parameters
state(x, v) the current position and velocity to evaluate the function f(x,v) with
Returns
The vector containing f(x,v)
Note
Returns a reference, its values will remain unchanged until the next call to computeF() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

void SurgSim::Physics::MassSpringRepresentation::computeFMDK ( const SurgSim::Math::OdeState state,
SurgSim::Math::Vector **  f,
SurgSim::Math::Matrix **  M,
SurgSim::Math::Matrix **  D,
SurgSim::Math::Matrix **  K 
)
overridevirtual

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.

Parameters
state(x, v) the current position and velocity to evaluate the various terms with
[out]fThe RHS f(x,v)
[out]MThe matrix M(x,v)
[out]DThe matrix D = -df/dv(x,v)
[out]KThe matrix K = -df/dx(x,v)
Note
Returns pointers, the internal data will remain unchanged until the next call to computeFMDK() or
computeF(), computeM(), computeD(), computeK()

Implements SurgSim::Math::OdeEquation.

const Matrix & SurgSim::Physics::MassSpringRepresentation::computeK ( const SurgSim::Math::OdeState state)
overridevirtual

Evaluation of K = -df/dx (x,v) for a given state.

Parameters
state(x, v) the current position and velocity to evaluate the Jacobian matrix with
Returns
The matrix K = -df/dx(x,v)
Note
Returns a reference, its values will remain unchanged until the next call to computeK() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

const Matrix & SurgSim::Physics::MassSpringRepresentation::computeM ( const SurgSim::Math::OdeState state)
overridevirtual

Evaluation of the LHS matrix M(x,v) for a given state.

Parameters
state(x, v) the current position and velocity to evaluate the matrix M(x,v) with
Returns
The matrix M(x,v)
Note
Returns a reference, its values will remain unchanged until the next call to computeM() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

std::shared_ptr< Mass > SurgSim::Physics::MassSpringRepresentation::getMass ( size_t  nodeId)

Retrieves the mass of a given node.

Parameters
nodeIdThe node id for which the mass is requested
Returns
the mass attribute of a node
Note
The mass is returned with read/write access
Out of range nodeId will raise an exception
size_t SurgSim::Physics::MassSpringRepresentation::getNumMasses ( ) const

Gets the number of masses.

Returns
the number of masses
size_t SurgSim::Physics::MassSpringRepresentation::getNumSprings ( ) const

Gets the number of springs.

Returns
the number of springs
double SurgSim::Physics::MassSpringRepresentation::getRayleighDampingMass ( ) const

Gets the Rayleigh mass parameter.

Returns
The Rayleigh mass parameter
double SurgSim::Physics::MassSpringRepresentation::getRayleighDampingStiffness ( ) const

Gets the Rayleigh stiffness parameter.

Returns
The Rayleigh stiffness parameter
std::shared_ptr< Spring > SurgSim::Physics::MassSpringRepresentation::getSpring ( size_t  springId)

Retrieves a given spring from its id.

Parameters
springIdThe spring id for which the spring is requested
Returns
the spring for the given springId
Note
The spring is returned with read/write access
Out of range springId will raise an exception
double SurgSim::Physics::MassSpringRepresentation::getTotalMass ( ) const

Gets the total mass of the mass spring.

Returns
The total mass of the mass spring (in Kg)
RepresentationType SurgSim::Physics::MassSpringRepresentation::getType ( ) const
overridevirtual

Query the representation type.

Returns
the RepresentationType for this representation

Implements SurgSim::Physics::Representation.

void SurgSim::Physics::MassSpringRepresentation::setRayleighDampingMass ( double  massCoef)

Sets the Rayleigh mass parameter.

Parameters
massCoefThe Rayleigh mass parameter
void SurgSim::Physics::MassSpringRepresentation::setRayleighDampingStiffness ( double  stiffnessCoef)

Sets the Rayleigh stiffness parameter.

Parameters
stiffnessCoefThe Rayleigh stiffness parameter
void SurgSim::Physics::MassSpringRepresentation::transformState ( std::shared_ptr< SurgSim::Math::OdeState state,
const SurgSim::Math::RigidTransform3d transform 
)
protectedvirtual

Transform a state using a given transformation.

Parameters
[in,out]stateThe state to be transformed
transformThe transformation to apply

Implements SurgSim::Physics::DeformableRepresentation.

Member Data Documentation

std::vector<std::shared_ptr<Mass> > SurgSim::Physics::MassSpringRepresentation::m_masses
private

Masses.

struct { ... } SurgSim::Physics::MassSpringRepresentation::m_rayleighDamping

Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient.M + stiffnessCoefficient.K Matrices: D = damping, M = mass, K = stiffness.

std::vector<std::shared_ptr<Spring> > SurgSim::Physics::MassSpringRepresentation::m_springs
private

Springs.

double SurgSim::Physics::MassSpringRepresentation::massCoefficient
double SurgSim::Physics::MassSpringRepresentation::stiffnessCoefficient

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