#include <SurgSim/Math/CompoundShape.h>

Inheritance diagram for SurgSim::Math::CompoundShape:

Public Types
typedef std::pair< std::shared_ptr< Shape >, RigidTransform3d >	SubShape

Public Types inherited from SurgSim::Math::Shape
typedef ::SurgSim::Math::Vector3d	Vector3d

typedef ::SurgSim::Math::Matrix33d	Matrix33d

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

Public Types inherited from SurgSim::Framework::FactoryBase< Shape >
typedef ObjectFactory< Shape >	FactoryType

Public Member Functions
	CompoundShape ()
	Constructor. More...

	~CompoundShape ()
	Destructor. More...

	SURGSIM_CLASSNAME (SurgSim::Math::CompoundShape)

size_t	addShape (const std::shared_ptr< Shape > &shape, const RigidTransform3d &pose=RigidTransform3d::Identity())
	Add a shape to this shape, you can optionally supply a pose for the added shape. More...

void	setShapes (const std::vector< SubShape > &shapes)
	Sets the shapes for this object, the shapes should be a list of shapes together with their respective poses, this will clear all the previously contained shapes. More...

const std::vector< SubShape > &	getShapes () const

const std::shared_ptr< Shape > &	getShape (size_t index) const

RigidTransform3d	getPose (size_t index) const

void	setPoses (const std::vector< RigidTransform3d > &poses)
	Sets the poses for all shapes. More...

void	setPose (size_t index, const RigidTransform3d &pose)
	Set the pose for the specified shape. More...

size_t	getNumShapes () const

void	clearShapes ()
	clears all the enclosed shapes More...

int	getType () const override

double	getVolume () const override

Vector3d	getCenter () const override
	Get the volumetric center of the shape. More...

Matrix33d	getSecondMomentOfVolume () const override
	Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix. More...

bool	isValid () const override
	Check if the shape is valid. More...

const Math::Aabbd &	getBoundingBox () const override

bool	isTransformable () const override

std::shared_ptr< Shape >	getTransformed (const RigidTransform3d &pose) const override
	Get a copy of this shape with an applied rigid transform. More...

Public Member Functions inherited from SurgSim::Math::Shape
	Shape ()
	Constructor. More...

virtual	~Shape ()
	Destructor. More...

virtual std::string	getClassName () const
	Get class name. More...

Public Member Functions inherited from SurgSim::Framework::Accessible
	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...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from 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

Private Types
typedef boost::shared_lock< boost::shared_mutex >	ReadLock

typedef boost::unique_lock< boost::shared_mutex >	WriteLock

Private Member Functions
void	invalidateData ()
	Clears the data for the volume, center and secondMoment and aabb so it can be recalculated when needed again. More...

Private Attributes
std::vector< SubShape >	m_shapes

boost::shared_mutex	m_mutex


DataStructures::OptionalValue< Vector3d >	m_center

DataStructures::OptionalValue< double >	m_volume

DataStructures::OptionalValue< Matrix33d >	m_secondMoment

DataStructures::OptionalValue< Math::Aabbd >	m_localAabb

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Shape >
static FactoryType &	getFactory ()

Protected Attributes inherited from SurgSim::Math::Shape
Math::Aabbd	m_aabb

Member Typedef Documentation

◆ ReadLock

typedef boost::shared_lock<boost::shared_mutex> SurgSim::Math::CompoundShape::ReadLock

private

◆ SubShape

typedef std::pair<std::shared_ptr<Shape>, RigidTransform3d> SurgSim::Math::CompoundShape::SubShape

◆ WriteLock

typedef boost::unique_lock<boost::shared_mutex> SurgSim::Math::CompoundShape::WriteLock

private

Constructor & Destructor Documentation

◆ CompoundShape()

SurgSim::Math::CompoundShape::CompoundShape ( )

Constructor.

◆ ~CompoundShape()

SurgSim::Math::CompoundShape::~CompoundShape ( )

Destructor.

Member Function Documentation

◆ addShape()

size_t SurgSim::Math::CompoundShape::addShape	(	const std::shared_ptr< Shape > &	shape,
		const RigidTransform3d &	pose = `RigidTransform3d::Identity()`
	)

Add a shape to this shape, you can optionally supply a pose for the added shape.

Parameters

shape	to be added
pose	for the newly added shape

Returns: the index of the newly added shape

◆ clearShapes()

void SurgSim::Math::CompoundShape::clearShapes ( )

clears all the enclosed shapes

◆ getBoundingBox()

const Math::Aabbd & SurgSim::Math::CompoundShape::getBoundingBox ( ) const

overridevirtual

Returns: the bounding box for the shape

Reimplemented from SurgSim::Math::Shape.

◆ getCenter()

Vector3d SurgSim::Math::CompoundShape::getCenter ( ) const

overridevirtual

Get the volumetric center of the shape.

Returns: The center of the shape

Implements SurgSim::Math::Shape.

◆ getNumShapes()

size_t SurgSim::Math::CompoundShape::getNumShapes ( ) const

Returns: the number of shapes in this shape

◆ getPose()

RigidTransform3d SurgSim::Math::CompoundShape::getPose ( size_t index ) const

Returns: the pose of a specific shape

Exceptions

SurgSim::AssertionFailure if the index exceeds the current number of shapes

◆ getSecondMomentOfVolume()

Matrix33d SurgSim::Math::CompoundShape::getSecondMomentOfVolume ( ) const

overridevirtual

Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.

Returns: The 3x3 symmetric second moment matrix

Implements SurgSim::Math::Shape.

◆ getShape()

const std::shared_ptr< Shape > & SurgSim::Math::CompoundShape::getShape ( size_t index ) const

Returns: a specific shape

Exceptions

SurgSim::AssertionFailure if the index exceeds the current number of shapes

◆ getShapes()

const std::vector< CompoundShape::SubShape > & SurgSim::Math::CompoundShape::getShapes ( ) const

Returns: all the contained shapes and their respective poses

◆ getTransformed()

std::shared_ptr< Shape > SurgSim::Math::CompoundShape::getTransformed ( const RigidTransform3d & pose ) const

overridevirtual

Get a copy of this shape with an applied rigid transform.

Parameters

pose	The pose to transform the shape by

Returns: the posed shape

Reimplemented from SurgSim::Math::Shape.

◆ getType()

int SurgSim::Math::CompoundShape::getType ( ) const

overridevirtual

Returns: the type of shape

Implements SurgSim::Math::Shape.

◆ getVolume()

double SurgSim::Math::CompoundShape::getVolume ( ) const

overridevirtual

Returns: the volume of the shape

Note: that currently this is a very simple sum of all the volumes of the enclosed shapes it will disregard any overlapping shapes.

Implements SurgSim::Math::Shape.

◆ invalidateData()

void SurgSim::Math::CompoundShape::invalidateData ( )

private

Clears the data for the volume, center and secondMoment and aabb so it can be recalculated when needed again.

◆ isTransformable()

bool SurgSim::Math::CompoundShape::isTransformable ( ) const

overridevirtual

Returns: true if the the shape can be transformed

Reimplemented from SurgSim::Math::Shape.

◆ isValid()

bool SurgSim::Math::CompoundShape::isValid ( ) const

overridevirtual

Check if the shape is valid.

Returns: True if shape is valid; Otherwise, false.

Implements SurgSim::Math::Shape.

◆ setPose()

void SurgSim::Math::CompoundShape::setPose	(	size_t	index,
		const RigidTransform3d &	pose
	)

Set the pose for the specified shape.

Parameters

index	index of the target shape
pose	new pose for the indicated shape

Exceptions

SurgSim::AssertionFailure if the index exceeds the current number of shapes

◆ setPoses()

void SurgSim::Math::CompoundShape::setPoses ( const std::vector< RigidTransform3d > & poses )

Sets the poses for all shapes.

Parameters

poses array of poses to be copied to each shape

Exceptions

SurgSimm::AssertialFailure if the size of poses.size() != getNumShapes()

◆ setShapes()

void SurgSim::Math::CompoundShape::setShapes ( const std::vector< SubShape > & shapes )

Sets the shapes for this object, the shapes should be a list of shapes together with their respective poses, this will clear all the previously contained shapes.

Parameters

shapes list of shapes

◆ SURGSIM_CLASSNAME()

SurgSim::Math::CompoundShape::SURGSIM_CLASSNAME ( SurgSim::Math::CompoundShape )

Member Data Documentation

◆ m_center

DataStructures::OptionalValue<Vector3d> SurgSim::Math::CompoundShape::m_center

mutableprivate

Storage for the physical properties of this shape mutable so they can be recalculated inside the const functions getVolume(), getCenter(), getSecondMommentOfVolume()

◆ m_localAabb

DataStructures::OptionalValue<Math::Aabbd> SurgSim::Math::CompoundShape::m_localAabb

mutableprivate

Storage for the physical properties of this shape mutable so they can be recalculated inside the const functions getVolume(), getCenter(), getSecondMommentOfVolume()

◆ m_mutex

boost::shared_mutex SurgSim::Math::CompoundShape::m_mutex

mutableprivate

◆ m_secondMoment

DataStructures::OptionalValue<Matrix33d> SurgSim::Math::CompoundShape::m_secondMoment

mutableprivate

Storage for the physical properties of this shape mutable so they can be recalculated inside the const functions getVolume(), getCenter(), getSecondMommentOfVolume()

◆ m_shapes

std::vector<SubShape> SurgSim::Math::CompoundShape::m_shapes

private

◆ m_volume

DataStructures::OptionalValue<double> SurgSim::Math::CompoundShape::m_volume

mutableprivate

Storage for the physical properties of this shape mutable so they can be recalculated inside the const functions getVolume(), getCenter(), getSecondMommentOfVolume()

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

SurgSim/Math/CompoundShape.h
SurgSim/Math/CompoundShape.cpp

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Member Typedef Documentation

◆ ReadLock

◆ SubShape

◆ WriteLock

Constructor & Destructor Documentation

◆ CompoundShape()

◆ ~CompoundShape()

Member Function Documentation

◆ addShape()

◆ clearShapes()

◆ getBoundingBox()

◆ getCenter()

◆ getNumShapes()

◆ getPose()

◆ getSecondMomentOfVolume()

◆ getShape()

◆ getShapes()

◆ getTransformed()

◆ getType()

◆ getVolume()

◆ invalidateData()

◆ isTransformable()

◆ isValid()

◆ setPose()

◆ setPoses()

◆ setShapes()

◆ SURGSIM_CLASSNAME()

Member Data Documentation

◆ m_center

◆ m_localAabb

◆ m_mutex

◆ m_secondMoment

◆ m_shapes

◆ m_volume