SlidingConstraintData.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
17 #define SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
18 
20 #include "SurgSim/Math/Vector.h"
22 
23 namespace SurgSim
24 {
25 
26 namespace Physics
27 {
28 
31 {
32 public:
35 
40 
42  virtual ~SlidingConstraintData();
43 
47  void setSlidingDirection(const SurgSim::Math::Vector3d& point, const SurgSim::Math::Vector3d& direction);
48 
51  void setFrictionCoefficient(double mu);
52 
55  double getFrictionCoefficient() const;
56 
58  const std::array<Math::Vector3d, 2>& getNormals() const;
59 
62 
64  const Math::Vector3d& getTangent() const;
65 
67  const double getDistanceTangent() const;
68 
69 private:
71  std::array<Math::Vector3d, 2> m_normals;
72 
75 
78 
81 
84 
86  double m_mu;
87 };
88 
89 } // namespace Physics
90 
91 } // namespace SurgSim
92 
93 #endif // SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
SurgSim::Physics::SlidingConstraintData::SlidingConstraintData
SlidingConstraintData()
Default constructor.
Definition: SlidingConstraintData.cpp:25
Vector.h
SurgSim::Physics::SlidingConstraintData::m_distanceTangent
double m_distanceTangent
The distance from origin of the tangential plane.
Definition: SlidingConstraintData.h:83
SurgSim::Physics::SlidingConstraintData::setFrictionCoefficient
void setFrictionCoefficient(double mu)
Set the friction coefficient for a frictional sliding constraint.
Definition: SlidingConstraintData.cpp:55
SurgSim::Math::RigidTransform3d
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
SurgSim::Physics::SlidingConstraintData::m_point
Math::Vector3d m_point
The point of constraint.
Definition: SlidingConstraintData.h:74
SurgSim::Physics::SlidingConstraintData::getDistanceTangent
const double getDistanceTangent() const
Definition: SlidingConstraintData.cpp:82
SurgSim::Math::Vector3d
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::SlidingConstraintData::getTangent
const Math::Vector3d & getTangent() const
Definition: SlidingConstraintData.cpp:77
SurgSim::Physics::SlidingConstraintData::m_mu
double m_mu
Friction coefficient for frictional constraint (unused for frictionless constraint).
Definition: SlidingConstraintData.h:86
SurgSim::Physics::SlidingConstraintData
Class for Frictionless sliding constraint (stores two planes, the intersection of which,...
Definition: SlidingConstraintData.h:30
RigidTransform.h
SurgSim::Physics::ConstraintData
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
SurgSim::Physics::SlidingConstraintData::getPose
const Math::RigidTransform3d getPose()
/return The pose of constraint
Definition: SlidingConstraintData.cpp:65
SurgSim::Physics::SlidingConstraintData::~SlidingConstraintData
virtual ~SlidingConstraintData()
Destructor.
Definition: SlidingConstraintData.cpp:40
SurgSim::Physics::SlidingConstraintData::m_tangent
Math::Vector3d m_tangent
The tangent of the two planes.
Definition: SlidingConstraintData.h:80
SurgSim::Physics::SlidingConstraintData::getFrictionCoefficient
double getFrictionCoefficient() const
Definition: SlidingConstraintData.cpp:60
ConstraintData.h
SurgSim::Physics::SlidingConstraintData::m_slidingDirection
Math::Vector3d m_slidingDirection
The sliding direction (intersection of the two planes).
Definition: SlidingConstraintData.h:77
SurgSim::Physics::SlidingConstraintData::setSlidingDirection
void setSlidingDirection(const SurgSim::Math::Vector3d &point, const SurgSim::Math::Vector3d &direction)
Calculate the two plane equations based on the given sliding direction.
Definition: SlidingConstraintData.cpp:44
SurgSim::Physics::SlidingConstraintData::getNormals
const std::array< Math::Vector3d, 2 > & getNormals() const
Definition: SlidingConstraintData.cpp:72
SurgSim::Physics::SlidingConstraintData::m_normals
std::array< Math::Vector3d, 2 > m_normals
The normals of the two planes.
Definition: SlidingConstraintData.h:71