16 #ifndef SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H 17 #define SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H 47 virtual int getShapeType()
const override;
53 void setShape(
const std::shared_ptr<SurgSim::Math::Shape>& shape);
54 virtual const std::shared_ptr<SurgSim::Math::Shape> getShape()
const override;
56 virtual void update(
const double& dt)
override;
57 virtual bool doInitialize()
override;
61 std::shared_ptr<SurgSim::Math::Shape>
m_shape;
67 #endif // SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H Definition: DriveElementFromInputBehavior.cpp:27
SURGSIM_STATIC_REGISTRATION(BoxShape)
string(TOUPPER ${DEVICE}DEVICE_UPPER_CASE) option(BUILD_DEVICE_ $
Definition: CMakeLists.txt:35
#define SURGSIM_CLASSNAME(ClassName)
Declare the class name of a class with the appropriate function header, do not use quotes...
Definition: Macros.h:21
std::shared_ptr< SurgSim::Math::Shape > m_shape
Definition: ShapeCollisionRepresentation.h:61
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to...
Definition: Representation.h:52
Use a Shape as a Collision Representation, any SurgSim::Physics::Representation can be used as a back...
Definition: ShapeCollisionRepresentation.h:36