16 #ifndef SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H 17 #define SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H 29 namespace DataStructures
31 class DataGroupCopier;
37 SURGSIM_STATIC_REGISTRATION(PoseIntegrator);
59 const PoseType& integrate(
const PoseType& pose);
76 void setReset(
const std::string& name);
86 std::shared_ptr<DataStructures::DataGroupCopier>
m_copier;
96 #endif // SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H Math::RigidTransform3d PoseType
The type used for poses.
Definition: PoseIntegrator.h:48
Definition: CompoundShapeToGraphics.cpp:29
Framework::Timer m_timer
A timer for the update rate needed for calculating velocity.
Definition: PoseIntegrator.h:83
A device filter can be connected between a device and the InputConsumerInterface (e.g., InputComponent) and/or the OutputProducerInterface (e.g., OutputComponent), and can alter the data being passed from/to the device.
Definition: DeviceFilter.h:37
std::string m_resetName
The name of the reset boolean (if any).
Definition: PoseIntegrator.h:89
Timer class, measures execution times.
Definition: Timer.h:30
#define SURGSIM_CLASSNAME(ClassName)
Declare the class name of a class with the appropriate function header, do not use quotes...
Definition: Macros.h:21
A collection of NamedData objects.
Definition: DataGroup.h:68
std::shared_ptr< DataStructures::DataGroupCopier > m_copier
A copier into the input DataGroup, if needed.
Definition: PoseIntegrator.h:86
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
A device filter that integrates the pose, turning a relative device into an absolute one...
Definition: PoseIntegrator.h:44
PoseType m_poseResult
The result of integrating the input poses.
Definition: PoseIntegrator.h:80