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19 #ifndef SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H
20 #define SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H
66 virtual void setInitialState(std::shared_ptr<SurgSim::Math::OdeState> initialState);
70 virtual const std::shared_ptr<SurgSim::Math::OdeState>
getCurrentState()
const;
74 virtual const std::shared_ptr<SurgSim::Math::OdeState>
getPreviousState()
const;
78 virtual const std::shared_ptr<SurgSim::Math::OdeState>
getFinalState()
const;
101 std::shared_ptr<SurgSim::Math::OdeSolver>
getOdeSolver()
const;
137 void update(
double dt)
override;
141 void applyCorrection(
double dt,
const Eigen::VectorBlock<SurgSim::Math::Vector>& deltaVelocity)
override;
163 virtual void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
216 #endif // SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H
The state of an ode of 2nd order of the form with boundary conditions.
Definition: OdeState.h:38
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
IntegrationScheme
The diverse numerical integration scheme supported Each Ode Solver should have its own entry in this ...
Definition: OdeSolver.h:36
The Representation class defines the base class for all physics objects.
Definition: Representation.h:53
Definition: CompoundShapeToGraphics.cpp:29
LinearSolver
The linear numerical integration scheme supported Each Linear Solver should have its own entry in thi...
Definition: LinearSparseSolveAndInverse.h:41
Eigen::SparseMatrix< double > SparseMatrix
A sparse matrix.
Definition: SparseMatrix.h:32
Ode equation of 2nd order of the form with for initial conditions and a set of boundary conditions.
Definition: OdeEquation.h:54
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65