16 #ifndef SURGSIM_PHYSICS_LOCALIZATION_H 17 #define SURGSIM_PHYSICS_LOCALIZATION_H 28 namespace DataStructures
47 explicit Localization(std::shared_ptr<Representation> representation);
54 void setRepresentation(std::shared_ptr<Representation> representation);
58 std::shared_ptr<Representation> getRepresentation()
const;
74 virtual bool isValidRepresentation(std::shared_ptr<Representation> representation);
85 virtual bool moveClosestTo(
const Math::Vector3d& point,
bool *hasReachedEnd);
108 #endif // SURGSIM_PHYSICS_LOCALIZATION_H std::shared_ptr< Representation > m_representation
The representation on which the localization is defined.
Definition: Localization.h:101
Definition: CompoundShapeToGraphics.cpp:29
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
The header that provides the assertion API.
Definitions of small fixed-size vector types.
This class localize a point on a representation (representation specific)
Definition: Localization.h:39
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57