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16 #ifndef SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H
17 #define SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H
29 namespace DataStructures
31 class DataGroupCopier;
37 SURGSIM_STATIC_REGISTRATION(PoseIntegrator);
76 void setReset(
const std::string& name);
86 std::shared_ptr<DataStructures::DataGroupCopier>
m_copier;
96 #endif // SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H
PoseIntegrator(const std::string &name)
Constructor.
Definition: PoseIntegrator.cpp:35
Timer class, measures execution times.
Definition: Timer.h:30
void setReset(const std::string &name)
Sets the string name of the boolean entry that will reset the pose to its initial value.
Definition: PoseIntegrator.cpp:131
const PoseType & integrate(const PoseType &pose)
Integrates the pose.
Definition: PoseIntegrator.cpp:41
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
A device filter can be connected between a device and the InputConsumerInterface (e....
Definition: DeviceFilter.h:37
A device filter that integrates the pose, turning a relative device into an absolute one.
Definition: PoseIntegrator.h:44
Math::RigidTransform3d PoseType
The type used for poses.
Definition: PoseIntegrator.h:48
Definition: CompoundShapeToGraphics.cpp:29
A collection of NamedData objects.
Definition: DataGroup.h:68
void initializeInput(const std::string &device, const DataStructures::DataGroup &inputData) override
Set the initial input data group.
Definition: PoseIntegrator.cpp:49
void handleInput(const std::string &device, const DataStructures::DataGroup &inputData) override
Notifies the consumer that the application input coming from the device has been updated.
Definition: PoseIntegrator.cpp:81
Framework::Timer m_timer
A timer for the update rate needed for calculating velocity.
Definition: PoseIntegrator.h:83
std::string m_resetName
The name of the reset boolean (if any).
Definition: PoseIntegrator.h:89
PoseType m_poseResult
The result of integrating the input poses.
Definition: PoseIntegrator.h:80
std::shared_ptr< DataStructures::DataGroupCopier > m_copier
A copier into the input DataGroup, if needed.
Definition: PoseIntegrator.h:86
SURGSIM_CLASSNAME(SurgSim::Devices::PoseIntegrator)