iMSTK: imstk::PortHoleInteraction Class Reference

Defines the behaviour to constrain a PbdObject LineMesh or Capsule to a fixed port hole location. More...

Inheritance diagram for imstk::PortHoleInteraction:

Collaboration diagram for imstk::PortHoleInteraction:

Public Member Functions
	PortHoleInteraction (const std::string &name="PortHoleInteraction")

void	init () override
	Initialize the component, called at a later time after all component construction is complete.


std::shared_ptr< PbdObject >	getTool () const
	Get/Set the tool to be constrained.

void	setTool (std::shared_ptr< PbdObject > toolObject)


std::shared_ptr< Geometry >	getToolGeometry () const
	Get/Set the tool geometry used for constraining.

void	setToolGeometry (std::shared_ptr< Geometry > toolGeom)


const Vec3d &	getPortHoleLocation () const
	Get/Set the port hole location to constrain the geometry too.

void	setPortHoleLocation (const Vec3d &portHoleLocation)


double	getCompliance () const
	Get/Set constraint compliance. This effects how stiff the constraint of the line to.

void	setCompliance (const double compliance)

Public Member Functions inherited from imstk::Behaviour< UpdateInfo >
virtual void	update (const UpdateInfo &imstkNotUsed(updateData))

virtual void	visualUpdate (const UpdateInfo &imstkNotUsed(updateData))

void	initTaskGraphEdges ()
	Setup the edges/connections of the TaskGraph.

std::shared_ptr< TaskGraph >	getTaskGraph () const

Public Member Functions inherited from imstk::Component
const std::string &	getName () const

void	setName (const std::string &name)

std::weak_ptr< Entity >	getEntity () const
	Get parent entity.

void	initialize ()
	Initialize the component, called at a later time after all component construction is complete.

Protected Member Functions
void	handlePortHole ()

void	initGraphEdges (std::shared_ptr< TaskNode > source, std::shared_ptr< TaskNode > sink) override

Protected Member Functions inherited from imstk::Behaviour< UpdateInfo >
	Behaviour (const std::string &name="Behaviour")

	Behaviour (const bool useTaskGraph, const std::string &name="Behaviour")

virtual void	initGraphEdges (std::shared_ptr< TaskNode > imstkNotUsed(source), std::shared_ptr< TaskNode > imstkNotUsed(sink))
	Setup the edges/connections of the TaskGraph. More...

Protected Member Functions inherited from imstk::Component
	Component (const std::string &name="Component")

Protected Attributes
std::shared_ptr< PbdObject >	m_toolObject = nullptr

std::shared_ptr< Geometry >	m_toolGeom = nullptr

Vec3d	m_portHoleLocation = Vec3d::Zero()

double	m_compliance = 0.0001

std::shared_ptr< PbdRigidLineToPointConstraint >	m_portConstraint = nullptr

std::vector< PbdConstraint * >	m_constraints

std::shared_ptr< TaskNode >	m_portHoleHandleNode = nullptr

std::shared_ptr< TaskNode >	m_collisionGeometryUpdateNode = nullptr

Protected Attributes inherited from imstk::Behaviour< UpdateInfo >
std::shared_ptr< TaskGraph >	m_taskGraph = nullptr

Protected Attributes inherited from imstk::Component
std::string	m_name

std::weak_ptr< Entity >	m_entity
	Parent entity this component exists on.

Detailed Description

Defines the behaviour to constrain a PbdObject LineMesh or Capsule to a fixed port hole location.

Alternatively a physical setup can be used when the hardware, space, and registration is available.

Definition at line 29 of file imstkPortHoleInteraction.h.

The documentation for this class was generated from the following files: