/usr/include/SurgSim/Framework/PoseComponent.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_FRAMEWORK_POSECOMPONENT_H
#define SURGSIM_FRAMEWORK_POSECOMPONENT_H
#include <memory>
#include "SurgSim/Framework/Component.h"
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Math/RigidTransform.h"
namespace SurgSim
{
namespace Framework
{
SURGSIM_STATIC_REGISTRATION(PoseComponent);
/// The PoseComponent holds a pose. It is used to group Representations that
/// share a common pose, in a SceneElement for example.
class PoseComponent : public Component
{
public:
/// Constructor
/// \param name Name of the representation
explicit PoseComponent(const std::string& name);
SURGSIM_CLASSNAME(SurgSim::Framework::PoseComponent);
/// Set the Pose of the PoseComponent
/// \param pose The pose in world coordinates
void setPose(const SurgSim::Math::RigidTransform3d& pose);
/// Get the pose of the PoseComponent
/// \return The pose in world coordinates
const SurgSim::Math::RigidTransform3d& getPose() const;
protected:
/// Get the PoseComponent for this component
/// A PoseComponent cannot have a PoseComponent, so this will
/// return nullptr.
/// \return The PoseComponent
std::shared_ptr<PoseComponent> getPoseComponent() override;
/// Get the PoseComponent for this component, constant access
/// A PoseComponent cannot have a PoseComponent, so this will
/// return nullptr.
/// \return The PoseComponent
std::shared_ptr<const PoseComponent> getPoseComponent() const override;
private:
bool doInitialize() override;
bool doWakeUp() override;
SurgSim::Math::RigidTransform3d m_pose;
};
}; // namespace Framework
}; // namespace SurgSim
#endif // SURGSIM_FRAMEWORK_POSECOMPONENT_H
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