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16 #ifndef SURGSIM_PHYSICS_RIGIDSTATE_H
17 #define SURGSIM_PHYSICS_RIGIDSTATE_H
108 #endif // SURGSIM_PHYSICS_RIGIDSTATE_H
The RigidState class describes a state (position and velocity information).
Definition: RigidState.h:31
const SurgSim::Math::Vector3d & getAngularVelocity() const
Get the angular velocity.
Definition: RigidState.cpp:88
RigidState()
Default constructor.
Definition: RigidState.cpp:25
bool operator!=(const RigidState &rhs) const
Comparison operator.
Definition: RigidState.cpp:71
RigidState & operator=(const RigidState &rhs)
Copy assignment.
Definition: RigidState.cpp:52
bool operator==(const RigidState &rhs) const
Comparison operator.
Definition: RigidState.cpp:66
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
virtual ~RigidState()
Destructor.
Definition: RigidState.cpp:62
void reset()
Reset the state to default values Vectors will be filled with 0 Rotations will be set to identity (qu...
Definition: RigidState.cpp:76
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:29
void setPose(const SurgSim::Math::RigidTransform3d &pose)
Set the rigid representation pose.
Definition: RigidState.cpp:103
Mixin class for enabling a property system on OSS classes, the instance still needs to initialize pro...
Definition: Accessible.h:37
SURGSIM_CLASSNAME(SurgSim::Physics::RigidState)
void addSerializableProperty()
Register accessors of serializable properties.
Definition: RigidState.cpp:41
const SurgSim::Math::RigidTransform3d & getPose() const
Get the rigid representation pose.
Definition: RigidState.cpp:108
SurgSim::Math::Vector3d m_v
Linear velocity.
Definition: RigidState.h:96
SurgSim::Math::Vector3d m_w
Angular velocity.
Definition: RigidState.h:99
void setLinearVelocity(const SurgSim::Math::Vector3d &v)
Set the linear velocity.
Definition: RigidState.cpp:93
const SurgSim::Math::Vector3d & getLinearVelocity() const
Get the linear velocity.
Definition: RigidState.cpp:83
void setAngularVelocity(const SurgSim::Math::Vector3d &w)
Set the angular velocity.
Definition: RigidState.cpp:98
SurgSim::Math::RigidTransform3d m_pose
Rigid representation pose (translation + rotation)
Definition: RigidState.h:102