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16 #ifndef SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H
17 #define SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H
32 SURGSIM_STATIC_REGISTRATION(ShapeCollisionRepresentation);
53 void setShape(
const std::shared_ptr<SurgSim::Math::Shape>& shape);
55 const std::shared_ptr<SurgSim::Math::Shape>
getShape()
const override;
62 std::shared_ptr<SurgSim::Math::Shape>
m_shape;
68 #endif // SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H
SURGSIM_CLASSNAME(SurgSim::Collision::ShapeCollisionRepresentation)
Use a Shape as a Collision Representation, any SurgSim::Physics::Representation can be used as a back...
Definition: ShapeCollisionRepresentation.h:36
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Definition: CompoundShapeToGraphics.cpp:29
const std::shared_ptr< SurgSim::Math::Shape > getShape() const override
Get the shape.
Definition: ShapeCollisionRepresentation.cpp:60
The type of collision detection.
Definition: Representation.h:60
bool doInitialize() override
Interface to be implemented by derived classes.
Definition: ShapeCollisionRepresentation.cpp:65
std::shared_ptr< SurgSim::Math::Shape > m_shape
Definition: ShapeCollisionRepresentation.h:62
virtual ~ShapeCollisionRepresentation()
Destructor.
Definition: ShapeCollisionRepresentation.cpp:37
void setLocalPose(const SurgSim::Math::RigidTransform3d &pose) override
Set the pose of the representation with respect to the Scene Element.
Definition: ShapeCollisionRepresentation.cpp:47
void setShape(const std::shared_ptr< SurgSim::Math::Shape > &shape)
Definition: ShapeCollisionRepresentation.cpp:53
int getShapeType() const override
Get the shape type id.
Definition: ShapeCollisionRepresentation.cpp:41
ShapeCollisionRepresentation(const std::string &name)
Constructor.
Definition: ShapeCollisionRepresentation.cpp:30