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16 #ifndef SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H
17 #define SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H
34 class OutputComponent;
40 class RigidRepresentation;
42 SURGSIM_STATIC_REGISTRATION(VirtualToolCoupler);
70 const std::shared_ptr<Framework::Component>
getInput();
77 void setInput(
const std::shared_ptr<Framework::Component> input);
80 const std::shared_ptr<Framework::Component>
getOutput();
84 void setOutput(
const std::shared_ptr<Framework::Component> output);
110 void update(
double dt)
override;
244 std::shared_ptr<Input::InputComponent>
m_input;
306 #endif // SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Behaviors perform actions.
Definition: Behavior.h:41
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:30
The convenience header that provides the entirety of the logging API.
A collection of NamedData objects.
Definition: DataGroup.h:69
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38