/usr/include/SurgSim/Physics/Fem1DRepresentation.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
This file is owned by root:root, with mode 0o644.
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// Copyright 2013-2016, 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_FEM1DREPRESENTATION_H
#define SURGSIM_PHYSICS_FEM1DREPRESENTATION_H
#include <memory>
#include <string>
#include "SurgSim/Framework/FrameworkConvert.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Physics/Fem1D.h"
#include "SurgSim/Physics/FemRepresentation.h"
namespace SurgSim
{
namespace DataStructures
{
struct IndexedLocalCoordinate;
struct Location;
}
namespace Framework
{
class Asset;
}
namespace Math
{
class OdeState;
}
namespace Physics
{
class Localization;
SURGSIM_STATIC_REGISTRATION(Fem1DRepresentation);
/// Finite Element Model 1D is a fem built with 1D FemElement
///
/// The structure of a 1D model derives into a matrix structure of tri-diagonal block.
class Fem1DRepresentation : public FemRepresentation
{
public:
/// Constructor
/// \param name The name of the Fem1DRepresentation
explicit Fem1DRepresentation(const std::string& name);
/// Destructor
virtual ~Fem1DRepresentation();
SURGSIM_CLASSNAME(SurgSim::Physics::Fem1DRepresentation);
void loadFem(const std::string& fileName) override;
/// Sets the fem mesh asset
/// \param mesh The fem mesh to assign to this representation
/// \exception SurgSim::Framework::AssertionFailure if mesh is nullptr or it's actual type is not Fem1D
void setFem(std::shared_ptr<SurgSim::Framework::Asset> mesh);
/// \return The fem mesh asset as a Fem1D
std::shared_ptr<Fem1D> getFem() const;
void addExternalGeneralizedForce(std::shared_ptr<Localization> localization,
const SurgSim::Math::Vector& generalizedForce,
const SurgSim::Math::Matrix& K = SurgSim::Math::Matrix(),
const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) override;
std::shared_ptr<Localization> createLocalization(const SurgSim::DataStructures::Location& location) override;
protected:
void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
const SurgSim::Math::RigidTransform3d& transform) override;
bool doInitialize() override;
private:
/// Helper method: create a localization for a node
/// \param nodeId The node index
/// \return Localization of the node for this representation
std::shared_ptr<Localization> createNodeLocalization(size_t nodeId);
/// Helper method: create a localization for an element-based IndexedLocalCoordinate (beam)
/// \param location The IndexedLocalCoordinate defining a point on the element mesh
/// \return Localization of the point for this representation
std::shared_ptr<Localization> createElementLocalization(
const SurgSim::DataStructures::IndexedLocalCoordinate& location);
/// The Fem1DRepresentation's asset as a Fem1D
std::shared_ptr<Fem1D> m_fem;
};
} // namespace Physics
} // namespace SurgSim
#endif // SURGSIM_PHYSICS_FEM1DREPRESENTATION_H
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