/usr/include/SurgSim/Physics/MassSpringLocalization.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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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_PHYSICS_MASSSPRINGLOCALIZATION_H
#define SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H
#include "SurgSim/Physics/Localization.h"
#include "SurgSim/Physics/MassSpringRepresentation.h"
namespace SurgSim
{
namespace Physics
{
/// Implementation of Localization for MassSpringRepresentation
///
/// MassSpringLocalization tracks the global coordinates of a node contained in an associated
/// MassSpringRepresentation. It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in
/// MassSpringRepresentationContact::doBuild, which constrains the motion of MassSpringRepresentation at a frictionless
/// contact.
///
/// MassSpringLocalization stores a pointer to a MassSpringRepresentation in an abstract Representation
/// object. It tracks the ID of a node contained within the associated MassSpringRepresentation, and it provides a
/// helper function MassSpringLocalization::calculatePosition to find the node's position in global
/// coordinates in the current state.
class MassSpringLocalization: public Localization
{
public:
/// Default constructor
MassSpringLocalization();
/// Constructor
/// \param representation The representation to assign to this localization.
explicit MassSpringLocalization(std::shared_ptr<Representation> representation);
/// Destructor
virtual ~MassSpringLocalization();
/// Sets the local node.
/// \param nodeID Node set for this localization.
void setLocalNode(size_t nodeID);
/// Gets the local node.
/// \return Node set for this localization.
const size_t& getLocalNode() const;
/// Queries whether Representation can be assigned to this class.
/// \param representation Representation to check.
/// \return true if Representation is valid.
bool isValidRepresentation(std::shared_ptr<Representation> representation) override;
private:
/// Calculates the global position of this localization.
/// \param time Interpolation parameter [0..1] for calcuting position between the previous state (0.0) and current
/// state (1.0).
/// \return The global position of the localization using an interpolation between the previous and current states.
/// \note The time parameter can useful when dealing with Continuous Collision Detection.
SurgSim::Math::Vector3d doCalculatePosition(double time) const override;
SurgSim::Math::Vector3d doCalculateVelocity(double time) const override;
/// Node defining the localization.
size_t m_nodeID;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H
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