16 #ifndef SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H 17 #define SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H 32 SURGSIM_STATIC_REGISTRATION(ShapeCollisionRepresentation);
47 int getShapeType()
const override;
53 void setShape(
const std::shared_ptr<SurgSim::Math::Shape>& shape);
55 const std::shared_ptr<SurgSim::Math::Shape> getShape()
const override;
58 bool doInitialize()
override;
62 std::shared_ptr<SurgSim::Math::Shape>
m_shape;
68 #endif // SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H Definition: CompoundShapeToGraphics.cpp:29
#define SURGSIM_CLASSNAME(ClassName)
Declare the class name of a class with the appropriate function header, do not use quotes...
Definition: Macros.h:21
std::shared_ptr< SurgSim::Math::Shape > m_shape
Definition: ShapeCollisionRepresentation.h:62
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
The type of collision detection.
Definition: Representation.h:60
Use a Shape as a Collision Representation, any SurgSim::Physics::Representation can be used as a back...
Definition: ShapeCollisionRepresentation.h:36