/usr/include/SurgSim/Physics/ComputationGroup.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 2013-2016, 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_PHYSICS_COMPUTATIONGROUP_H
#define SURGSIM_PHYSICS_COMPUTATIONGROUP_H
#include "SurgSim/Physics/Computation.h"
#include "SurgSim/Framework/Macros.h"
#include <boost/thread.hpp>
namespace SurgSim
{
namespace Physics
{
/// Implements a mechanism to group and loop computations, the computations will be called in sequence repeatedly
/// until one of the exit criteria is met. That is either the endIteration() call, or shouldAbortLoop()
/// in the \sa PhysicsManagerState return true.
class ComputationGroup : public Computation
{
public:
/// Constructor
explicit ComputationGroup(bool copyState);
/// Destructor
~ComputationGroup();
SURGSIM_CLASSNAME(SurgSim::Physics::ComputationGroup);
std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt,
const std::shared_ptr<PhysicsManagerState>& state) override;
/// Override this function to implement a custom criterion to exit this computation, when this returns true
/// the computation will exit and return the last state
/// \note the computation can also be stopped by calling setAbortLoop(true) on the physics state by any calculation
/// \return true to stop calculating.
virtual bool endIteration();
/// Adds a computation to this group, the computation will be appended at the end
/// \param computation the computation to be added to this group
void addComputation(const std::shared_ptr<Computation>& computation);
/// \return the computations used by this class
std::vector<std::shared_ptr<Computation>> getComputations() const;
/// \param val set the computations used by this class
void setComputations(const std::vector<std::shared_ptr<Computation>>& val);
/// \return the number of iterations that have passed
size_t getIterations();
private:
size_t m_iterations;
mutable boost::mutex m_computationsMutex;
std::vector<std::shared_ptr<Computation>> m_computations;
};
}
}
#endif
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