/usr/include/SurgSim/Physics/RigidLocalization.h is in libopensurgsim-dev 0.7.0-5.
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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_RIGIDLOCALIZATION_H
#define SURGSIM_PHYSICS_RIGIDLOCALIZATION_H
#include "SurgSim/Physics/Localization.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"
namespace SurgSim
{
namespace Physics
{
/// This class implements the localization on a RigidRepresentationBase, as a local position.
class RigidLocalization: public Localization
{
public:
/// Default constructor
RigidLocalization();
/// Constructor
/// \param representation The representation to assign to this localization.
explicit RigidLocalization(std::shared_ptr<Representation> representation);
/// Destructor
virtual ~RigidLocalization();
/// Sets the local position.
/// \param p The local position to set the localization at.
void setLocalPosition(const SurgSim::Math::Vector3d& p);
/// Gets the local position.
/// \return The local position set for this localization.
const SurgSim::Math::Vector3d& getLocalPosition() const;
/// Query if 'representation' is valid representation.
/// \param representation The representation.
/// \return true if valid representation, false if not.
bool isValidRepresentation(std::shared_ptr<Representation> representation) override;
private:
/// Calculates the global position of this localization.
/// \param time The time in [0..1] at which the position should be calculated.
/// \return The global position of the localization at the requested time.
/// \note time can useful when dealing with CCD.
SurgSim::Math::Vector3d doCalculatePosition(double time) const;
SurgSim::Math::Vector3d doCalculateVelocity(double time) const;
/// 3D position in local coordinates.
SurgSim::Math::Vector3d m_position;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_RIGIDLOCALIZATION_H
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