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16 #ifndef SURGSIM_PHYSICS_FEM1DREPRESENTATION_H
17 #define SURGSIM_PHYSICS_FEM1DREPRESENTATION_H
31 namespace DataStructures
33 struct IndexedLocalCoordinate;
49 SURGSIM_STATIC_REGISTRATION(Fem1DRepresentation);
71 void setFem(std::shared_ptr<SurgSim::Framework::Asset> mesh);
74 std::shared_ptr<Fem1D>
getFem()
const;
84 void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
109 #endif // SURGSIM_PHYSICS_FEM1DREPRESENTATION_H
std::shared_ptr< Localization > createElementLocalization(const SurgSim::DataStructures::IndexedLocalCoordinate &location)
Helper method: create a localization for an element-based IndexedLocalCoordinate (beam)
Definition: Fem1DRepresentation.cpp:224
Definitions of small fixed-size vector types.
void setFem(std::shared_ptr< SurgSim::Framework::Asset > mesh)
Sets the fem mesh asset.
Definition: Fem1DRepresentation.cpp:77
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
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
Add an external generalized force applied on a specific localization.
Definition: Fem1DRepresentation.cpp:128
Definitions of small fixed-size square matrix types.
std::shared_ptr< Fem1D > getFem() const
Definition: Fem1DRepresentation.cpp:123
Finite Element Model (a.k.a FEM) is a deformable model (a set of nodes connected by FemElement).
Definition: FemRepresentation.h:47
std::shared_ptr< Fem1D > m_fem
The Fem1DRepresentation's asset as a Fem1D.
Definition: Fem1DRepresentation.h:102
bool doInitialize() override
Interface to be implemented by derived classes.
Definition: Fem1DRepresentation.cpp:254
Definition: CompoundShapeToGraphics.cpp:30
A generic (size_t index, Vector coordinate) pair.
Definition: IndexedLocalCoordinate.h:30
std::shared_ptr< Localization > createNodeLocalization(size_t nodeId)
Helper method: create a localization for a node.
Definition: Fem1DRepresentation.cpp:195
Fem1DRepresentation(const std::string &name)
Constructor.
Definition: Fem1DRepresentation.cpp:55
virtual ~Fem1DRepresentation()
Destructor.
Definition: Fem1DRepresentation.cpp:66
SURGSIM_CLASSNAME(SurgSim::Physics::Fem1DRepresentation)
void transformState(std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform) override
Transform a state using a given transformation.
Definition: Fem1DRepresentation.cpp:247
A Location defines a local position w.r.t.
Definition: Location.h:40
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
std::shared_ptr< Localization > createLocalization(const SurgSim::DataStructures::Location &location) override
Computes a localized coordinate w.r.t this representation, given a Location object.
Definition: Fem1DRepresentation.cpp:231
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
Finite Element Model 1D is a fem built with 1D FemElement.
Definition: Fem1DRepresentation.h:55
void loadFem(const std::string &fileName) override
Loads the FEM file into an Fem class data structure.
Definition: Fem1DRepresentation.cpp:70
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65