/usr/include/sofa/component/mapping/LaparoscopicRigidMapping.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_LAPAROSCOPICRIGIDMAPPING_H
#define SOFA_COMPONENT_MAPPING_LAPAROSCOPICRIGIDMAPPING_H
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/LaparoscopicRigidTypes.h>
#include <sofa/component/topology/PointSubset.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/defaulttype/VecTypes.h>
namespace sofa
{
namespace component
{
namespace mapping
{
template <class BasicMapping>
class LaparoscopicRigidMapping : public BasicMapping, public virtual core::objectmodel::BaseObject
{
public:
typedef BasicMapping Inherit;
typedef typename Inherit::In In;
typedef typename Inherit::Out Out;
typedef typename Out::VecCoord VecCoord;
typedef typename In::VecCoord InVecCoord;
typedef typename Out::VecDeriv VecDeriv;
typedef typename Out::Coord Coord;
typedef typename Out::Deriv Deriv;
//typedef typename Coord::value_type Real;
public:
Data<defaulttype::Vector3> pivot;
Data<defaulttype::Quat> rotation;
LaparoscopicRigidMapping(In* from, Out* to)
: Inherit(from, to)
, pivot(initData(&pivot, defaulttype::Vector3(0,0,0), "pivot","Pivot point position"))
, rotation(initData(&rotation, defaulttype::Quat(0,0,0,1), "rotation", "TODO-rotation"))
{
}
virtual ~LaparoscopicRigidMapping()
{
}
//void setPivot(const defaulttype::Vector3& val) { this->pivot = val; }
//void setRotation(const defaulttype::Quat& val) { this->rotation = val; this->rotation.normalize(); }
void init();
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void draw();
protected:
defaulttype::Quat currentRotation;
};
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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