16 #ifndef SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATIONFACTORY_H 17 #define SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATIONFACTORY_H 29 class ConstraintImplementation;
61 std::shared_ptr<ConstraintImplementation>
Definition: DriveElementFromInputBehavior.cpp:27
RepresentationType
Definition: Representation.h:42
Definition: MlcpConstraintType.h:44
~ConstraintImplementationFactory()
Destructor.
Definition: ConstraintImplementationFactory.cpp:34
std::shared_ptr< ConstraintImplementation > getImplementation(RepresentationType representationType, SurgSim::Math::MlcpConstraintType constraintType) const
Get the instance of a ConstraintImplementation for a specific representation and constraint type...
Definition: ConstraintImplementationFactory.cpp:38
std::shared_ptr< ConstraintImplementation > m_implementations[REPRESENTATION_TYPE_COUNT][SurgSim::Math::MLCP_NUM_CONSTRAINT_TYPES]
Lookup table for constrain implementations.
Definition: ConstraintImplementationFactory.h:62
ConstraintImplementationFactory()
Constructor.
Definition: ConstraintImplementationFactory.cpp:27
void addImplementation(std::shared_ptr< ConstraintImplementation > implementation)
Add an implementation to the internal directory.
Definition: ConstraintImplementationFactory.cpp:55
This class manages ConstraintImplementations, and can be used to look up the correct implementation b...
Definition: ConstraintImplementationFactory.h:35
Definition: Representation.h:52
MlcpConstraintType
Definition: MlcpConstraintType.h:24