This file is indexed.

/usr/include/SurgSim/Physics/RigidConstraintFixedRotationVector.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.

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
// This file is a part of the OpenSurgSim project.
// Copyright 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_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H
#define SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H

#include "SurgSim/Physics/ConstraintImplementation.h"

namespace SurgSim
{

namespace Physics
{

/// RigidRepresentationBase fixed rotation vector constraint
///
/// This implementation simply fixes the rotational dof of the constraint, effectively controlling the
/// other representation orientation.
class RigidConstraintFixedRotationVector : public ConstraintImplementation
{
public:
	/// Constructor
	RigidConstraintFixedRotationVector();

	/// Destructor
	virtual ~RigidConstraintFixedRotationVector();

	SurgSim::Physics::ConstraintType getConstraintType() const override;

private:
	size_t doGetNumDof() const override;

	/// \note This is only setting the mlcp->b violation to the rigid representation current rotation vector.
	/// It means that the rigid won't receive any forces back, it simply will control the other representation's
	/// orientation in this constraint.
	///
	/// \note The rotation vector constraint violation being calculated based on a quaternion interpolation (slerp),
	/// and this type of interpolation being highly non-linear, the classical way of using the implementation one after
	/// the other one won't work.
	/// Therefore, the RotationVectorConstraint will use the vector mlcp->b to retrieve both representation's
	/// rotation vector, then calculate the proper slerp and set the violation back in mlcp->b
	void doBuild(double dt,
		const ConstraintData& data,
		const std::shared_ptr<Localization>& localization,
		MlcpPhysicsProblem* mlcp,
		size_t indexOfRepresentation,
		size_t indexOfConstraint,
		ConstraintSideSign sign) override;

};

}; //  namespace Physics

}; //  namespace SurgSim

#endif // SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H