/usr/include/SurgSim/Framework/Representation.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
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 | // 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_FRAMEWORK_REPRESENTATION_H
#define SURGSIM_FRAMEWORK_REPRESENTATION_H
#include <memory>
#include "SurgSim/Framework/Component.h"
#include "SurgSim/Math/RigidTransform.h"
namespace SurgSim
{
namespace Framework
{
/// Representations are manifestations of a SceneElement. For example, a
/// SceneElement can be represented in graphics, physics, etc. Each of these
/// representation will be derived from this class.
class Representation : public Component
{
public:
/// Constructor
/// \param name Name of the representation
explicit Representation(const std::string& name);
/// Destructor
virtual ~Representation();
/// Set the pose of the representation with respect to the Scene Element
/// \param pose The pose to set the representation to
virtual void setLocalPose(const SurgSim::Math::RigidTransform3d& pose);
/// Get the pose of the representation with respect to the Scene Element
/// \return The pose of this representation
virtual SurgSim::Math::RigidTransform3d getLocalPose() const;
/// Get the pose of the representation in world coordinates
/// \return The pose of this representation
virtual SurgSim::Math::RigidTransform3d getPose() const;
private:
/// Local Pose of the Representation with respect to the SceneElement
SurgSim::Math::RigidTransform3d m_localPose;
bool doInitialize() override;
bool doWakeUp() override;
};
}; // namespace Framework
}; // namespace SurgSim
#endif // SURGSIM_FRAMEWORK_REPRESENTATION_H
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