/usr/include/SurgSim/Physics/SlidingConstraintData.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
#define SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
#include "SurgSim/Physics/ConstraintData.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Math/RigidTransform.h"
namespace SurgSim
{
namespace Physics
{
/// Class for Frictionless sliding constraint (stores two planes, the intersection of which, is the sliding direction)
class SlidingConstraintData : public ConstraintData
{
public:
/// Default constructor
SlidingConstraintData();
/// Constructor
/// \param point The point through which the sliding direction vector passes.
/// \param direction The sliding direction vector.
SlidingConstraintData(const SurgSim::Math::Vector3d& point, const SurgSim::Math::Vector3d& direction);
/// Destructor
virtual ~SlidingConstraintData();
/// Calculate the two plane equations based on the given sliding direction.
/// \param point The point through which the sliding direction vector passes.
/// \param direction The sliding direction vector.
void setSlidingDirection(const SurgSim::Math::Vector3d& point, const SurgSim::Math::Vector3d& direction);
/// Set the friction coefficient for a frictional sliding constraint
/// \param mu The friction coefficient
void setFrictionCoefficient(double mu);
/// \return The friction coefficient (default is 0.5)
/// \note The friction coefficient is only used for frictional constraint, it is discarded othersise.
double getFrictionCoefficient() const;
/// \return The normals of the two planes.
const std::array<Math::Vector3d, 2>& getNormals() const;
/// /return The pose of constraint
const Math::RigidTransform3d getPose();
/// \return The tangent (direction defined by the two planes).
const Math::Vector3d& getTangent() const;
/// \return The distance from origin of the planes direction (tangent).
const double getDistanceTangent() const;
private:
/// The normals of the two planes.
std::array<Math::Vector3d, 2> m_normals;
/// The point of constraint.
Math::Vector3d m_point;
/// The sliding direction (intersection of the two planes).
Math::Vector3d m_slidingDirection;
/// The tangent of the two planes.
Math::Vector3d m_tangent;
/// The distance from origin of the tangential plane.
double m_distanceTangent;
/// Friction coefficient for frictional constraint (unused for frictionless constraint).
double m_mu;
};
} // namespace Physics
} // namespace SurgSim
#endif // SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
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