/usr/include/SurgSim/Blocks/MassSpring1DRepresentation.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
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 | // This file is a part of the OpenSurgSim project.
// 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_BLOCKS_MASSSPRING1DREPRESENTATION_H
#define SURGSIM_BLOCKS_MASSSPRING1DREPRESENTATION_H
#include <array>
#include <vector>
#include "SurgSim/Physics/MassSpringRepresentation.h"
namespace SurgSim
{
namespace Blocks
{
// This class defines a simple MassSpring 1D structures
class MassSpring1DRepresentation : public SurgSim::Physics::MassSpringRepresentation
{
public:
/// Constructor
/// \param name The model name
explicit MassSpring1DRepresentation(const std::string& name) :
SurgSim::Physics::MassSpringRepresentation(name)
{
}
/// Initializes a 1D model from a given list of nodes
/// \param nodes List of nodes to define the 1D model with
/// \param nodeBoundaryConditions The list of all nodeId being boundary conditions (fixed node)
/// \param totalMass The total mass of the mass spring (evenly spread out on the masses)
/// \param stiffnessStretching, dampingStretching The spring param for all stretching springs (edges)
/// \param stiffnessBending, dampingBending The spring param for all bending springs (edges)
/// \note Stretching springs are connecting neighbors, bending springs are connecting 1 node
/// \note to its 2nd degree neighbors, creating a bending force around the middle node.
void init1D(const std::vector<SurgSim::Math::Vector3d> nodes,
std::vector<size_t> nodeBoundaryConditions,
double totalMass,
double stiffnessStretching, double dampingStretching,
double stiffnessBending, double dampingBending);
};
}; // namespace Blocks
}; // namespace SurgSim
#endif // SURGSIM_BLOCKS_MASSSPRING1DREPRESENTATION_H
|