\hypertarget{class_guidewire_sim_1_1_update_step}{}\doxysection{Guidewire\+Sim.\+Update\+Step Class Reference}
\label{class_guidewire_sim_1_1_update_step}\index{GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}}
Inheritance diagram for Guidewire\+Sim.\+Update\+Step\+:\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[height=2.000000cm]{class_guidewire_sim_1_1_update_step}
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\end{figure}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
Vector3\mbox{[}$\,$\mbox{]} \mbox{\hyperlink{class_guidewire_sim_1_1_update_step_a794369b999691f458662ee72477e2a98}{Update\+Sphere\+Velocities}} (Vector3\mbox{[}$\,$\mbox{]} sphere\+Velocities, int spheres\+Count, Vector3\mbox{[}$\,$\mbox{]} sphere\+Position\+Predictions, Vector3\mbox{[}$\,$\mbox{]} sphere\+Positions)
\item 
Vector3\mbox{[}$\,$\mbox{]} \mbox{\hyperlink{class_guidewire_sim_1_1_update_step_a6b9206d8094f62e746ba3a099be057ef}{Update\+Sphere\+Positions}} (Vector3\mbox{[}$\,$\mbox{]} sphere\+Positions, int spheres\+Count, Vector3\mbox{[}$\,$\mbox{]} sphere\+Position\+Predictions)
\item 
Vector3\mbox{[}$\,$\mbox{]} \mbox{\hyperlink{class_guidewire_sim_1_1_update_step_a5ebd905de445735494a2da1ebeafdf24}{Update\+Cylinder\+Angular\+Velocities}} (Vector3\mbox{[}$\,$\mbox{]} cylinder\+Angular\+Velocities, int cylinder\+Count, BSM.\+Quaternion\mbox{[}$\,$\mbox{]} cylinder\+Orientations, BSM.\+Quaternion\mbox{[}$\,$\mbox{]} cylinder\+Orientation\+Predictions)
\item 
BSM.\+Quaternion\mbox{[}$\,$\mbox{]} \mbox{\hyperlink{class_guidewire_sim_1_1_update_step_a3f2ec254eaa67d41e986ffc00930230f}{Update\+Cylinder\+Orientations}} (BSM.\+Quaternion\mbox{[}$\,$\mbox{]} cylinder\+Orientations, int cylinder\+Count, BSM.\+Quaternion\mbox{[}$\,$\mbox{]} cylinder\+Orientation\+Predictions)
\end{DoxyCompactItemize}
\doxysubsection*{Private Member Functions}
\begin{DoxyCompactItemize}
\item 
void \mbox{\hyperlink{class_guidewire_sim_1_1_update_step_a6524058e9c2fa837cfff839bbe57b389}{Awake}} ()
\end{DoxyCompactItemize}
\doxysubsection*{Private Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\hyperlink{class_guidewire_sim_1_1_math_helper}{Math\+Helper}} \mbox{\hyperlink{class_guidewire_sim_1_1_update_step_a41bb8b7784fe6a5edbb0bff8f8c3308c}{math\+Helper}}
\begin{DoxyCompactList}\small\item\em The component \mbox{\hyperlink{class_guidewire_sim_1_1_math_helper}{Math\+Helper}} that provides math related helper functions. \end{DoxyCompactList}\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
This class implements the update step of the algorithm. 

\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{class_guidewire_sim_1_1_update_step_a6524058e9c2fa837cfff839bbe57b389}\label{class_guidewire_sim_1_1_update_step_a6524058e9c2fa837cfff839bbe57b389}} 
\index{GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}!Awake@{Awake}}
\index{Awake@{Awake}!GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}}
\doxysubsubsection{\texorpdfstring{Awake()}{Awake()}}
{\footnotesize\ttfamily void Guidewire\+Sim.\+Update\+Step.\+Awake (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}

\mbox{\Hypertarget{class_guidewire_sim_1_1_update_step_a5ebd905de445735494a2da1ebeafdf24}\label{class_guidewire_sim_1_1_update_step_a5ebd905de445735494a2da1ebeafdf24}} 
\index{GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}!UpdateCylinderAngularVelocities@{UpdateCylinderAngularVelocities}}
\index{UpdateCylinderAngularVelocities@{UpdateCylinderAngularVelocities}!GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}}
\doxysubsubsection{\texorpdfstring{UpdateCylinderAngularVelocities()}{UpdateCylinderAngularVelocities()}}
{\footnotesize\ttfamily Vector3 \mbox{[}$\,$\mbox{]} Guidewire\+Sim.\+Update\+Step.\+Update\+Cylinder\+Angular\+Velocities (\begin{DoxyParamCaption}\item[{Vector3\mbox{[}$\,$\mbox{]}}]{cylinder\+Angular\+Velocities,  }\item[{int}]{cylinder\+Count,  }\item[{BSM.\+Quaternion\mbox{[}$\,$\mbox{]}}]{cylinder\+Orientations,  }\item[{BSM.\+Quaternion\mbox{[}$\,$\mbox{]}}]{cylinder\+Orientation\+Predictions }\end{DoxyParamCaption})}

Updates the cylinder angular velocities for the update step of the simulation. 
\begin{DoxyParams}{Parameters}
{\em cylinder\+Angular\+Velocities} & The angular velocity of the current frame of each orientation element/ cylinder. \\
\hline
{\em cylinder\+Count} & The count of all cylinders of the guidewire. Equals the length of {\ttfamily cylinder\+Orientation\+Predictions}. \\
\hline
{\em cylinder\+Orientations} & The orientation of each cylinder at its center of mass. \\
\hline
{\em cylinder\+Orientation\+Predictions} & The prediction of the orientation of each cylinder at its center of mass. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
The angular velocity of the current frame of each orientation element/ cylinder, i.\+e. {\ttfamily cylinder\+Angular\+Velocities}. 
\end{DoxyReturn}
\mbox{\Hypertarget{class_guidewire_sim_1_1_update_step_a3f2ec254eaa67d41e986ffc00930230f}\label{class_guidewire_sim_1_1_update_step_a3f2ec254eaa67d41e986ffc00930230f}} 
\index{GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}!UpdateCylinderOrientations@{UpdateCylinderOrientations}}
\index{UpdateCylinderOrientations@{UpdateCylinderOrientations}!GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}}
\doxysubsubsection{\texorpdfstring{UpdateCylinderOrientations()}{UpdateCylinderOrientations()}}
{\footnotesize\ttfamily BSM.\+Quaternion \mbox{[}$\,$\mbox{]} Guidewire\+Sim.\+Update\+Step.\+Update\+Cylinder\+Orientations (\begin{DoxyParamCaption}\item[{BSM.\+Quaternion\mbox{[}$\,$\mbox{]}}]{cylinder\+Orientations,  }\item[{int}]{cylinder\+Count,  }\item[{BSM.\+Quaternion\mbox{[}$\,$\mbox{]}}]{cylinder\+Orientation\+Predictions }\end{DoxyParamCaption})}

Updates the cylinder orientations given the current orientation predictions for the update step of the simulation. 
\begin{DoxyParams}{Parameters}
{\em cylinder\+Orientations} & The orientation of each cylinder at its center of mass. \\
\hline
{\em cylinder\+Count} & The count of all cylinders of the guidewire. Equals the length of {\ttfamily cylinder\+Orientation\+Predictions}. \\
\hline
{\em cylinder\+Orientation\+Predictions} & The prediction of the orientation of each cylinder at its center of mass. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
The orientation of each cylinder at its center of mass, i.\+e. {\ttfamily cylinder\+Orientations}. 
\end{DoxyReturn}
\mbox{\Hypertarget{class_guidewire_sim_1_1_update_step_a6b9206d8094f62e746ba3a099be057ef}\label{class_guidewire_sim_1_1_update_step_a6b9206d8094f62e746ba3a099be057ef}} 
\index{GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}!UpdateSpherePositions@{UpdateSpherePositions}}
\index{UpdateSpherePositions@{UpdateSpherePositions}!GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}}
\doxysubsubsection{\texorpdfstring{UpdateSpherePositions()}{UpdateSpherePositions()}}
{\footnotesize\ttfamily Vector3 \mbox{[}$\,$\mbox{]} Guidewire\+Sim.\+Update\+Step.\+Update\+Sphere\+Positions (\begin{DoxyParamCaption}\item[{Vector3\mbox{[}$\,$\mbox{]}}]{sphere\+Positions,  }\item[{int}]{spheres\+Count,  }\item[{Vector3\mbox{[}$\,$\mbox{]}}]{sphere\+Position\+Predictions }\end{DoxyParamCaption})}

Updates the sphere positions given the current position predictions. 
\begin{DoxyParams}{Parameters}
{\em sphere\+Positions} & The position at the current frame of each sphere. \\
\hline
{\em spheres\+Count} & The count of all spheres of the guidewire. Equals the length of {\ttfamily sphere\+Position\+Predictions}. \\
\hline
{\em sphere\+Position\+Predictions} & The prediction of the position at the current frame of each sphere (in this case of the last frame). \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
The position at the current frame of each sphere, i.\+e. {\ttfamily sphere\+Positions}. 
\end{DoxyReturn}
\mbox{\Hypertarget{class_guidewire_sim_1_1_update_step_a794369b999691f458662ee72477e2a98}\label{class_guidewire_sim_1_1_update_step_a794369b999691f458662ee72477e2a98}} 
\index{GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}!UpdateSphereVelocities@{UpdateSphereVelocities}}
\index{UpdateSphereVelocities@{UpdateSphereVelocities}!GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}}
\doxysubsubsection{\texorpdfstring{UpdateSphereVelocities()}{UpdateSphereVelocities()}}
{\footnotesize\ttfamily Vector3 \mbox{[}$\,$\mbox{]} Guidewire\+Sim.\+Update\+Step.\+Update\+Sphere\+Velocities (\begin{DoxyParamCaption}\item[{Vector3\mbox{[}$\,$\mbox{]}}]{sphere\+Velocities,  }\item[{int}]{spheres\+Count,  }\item[{Vector3\mbox{[}$\,$\mbox{]}}]{sphere\+Position\+Predictions,  }\item[{Vector3\mbox{[}$\,$\mbox{]}}]{sphere\+Positions }\end{DoxyParamCaption})}

Updates the sphere velocities given the current prediction and the current position. 
\begin{DoxyParams}{Parameters}
{\em sphere\+Velocities} & The velocity of the current frame of each sphere. \\
\hline
{\em spheres\+Count} & The count of all spheres of the guidewire. Equals the length of {\ttfamily sphere\+Position\+Predictions}. \\
\hline
{\em sphere\+Position\+Predictions} & The prediction of the position at the current frame of each sphere (in this case of the last frame). \\
\hline
{\em sphere\+Positions} & The position at the current frame of each sphere. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
The velocity of the current frame of each sphere, i.\+e. {\ttfamily sphere\+Velocities}. 
\end{DoxyReturn}


\doxysubsection{Member Data Documentation}
\mbox{\Hypertarget{class_guidewire_sim_1_1_update_step_a41bb8b7784fe6a5edbb0bff8f8c3308c}\label{class_guidewire_sim_1_1_update_step_a41bb8b7784fe6a5edbb0bff8f8c3308c}} 
\index{GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}!mathHelper@{mathHelper}}
\index{mathHelper@{mathHelper}!GuidewireSim.UpdateStep@{GuidewireSim.UpdateStep}}
\doxysubsubsection{\texorpdfstring{mathHelper}{mathHelper}}
{\footnotesize\ttfamily \mbox{\hyperlink{class_guidewire_sim_1_1_math_helper}{Math\+Helper}} Guidewire\+Sim.\+Update\+Step.\+math\+Helper\hspace{0.3cm}{\ttfamily [private]}}



The component \mbox{\hyperlink{class_guidewire_sim_1_1_math_helper}{Math\+Helper}} that provides math related helper functions. 



The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
\mbox{\hyperlink{_update_step_8cs}{Update\+Step.\+cs}}\end{DoxyCompactItemize}
