#include <ArticulatedSystemMapping.h>
Definition at line 55 of file ArticulatedSystemMapping.h.
Public Types | |
| typedef BasicMapping | Inherit |
| typedef Inherit::In | In |
| typedef Inherit::Out | Out |
| typedef Out::VecCoord | OutVecCoord |
| typedef Out::VecDeriv | OutVecDeriv |
| typedef Out::Coord | OutCoord |
| typedef Out::Deriv | OutDeriv |
| typedef Out::SparseVecDeriv | OutSparseVecDeriv |
| typedef Out::SparseDeriv | OutSparseDeriv |
| typedef In::VecCoord | InVecCoord |
| typedef In::VecDeriv | InVecDeriv |
| typedef In::Coord | InCoord |
| typedef In::Deriv | InDeriv |
| typedef In::SparseVecDeriv | InSparseVecDeriv |
| typedef In::SparseDeriv | InSparseDeriv |
| typedef In::Real | Real |
| typedef OutCoord::value_type | OutReal |
| typedef sofa::core::componentmodel::behavior::MechanicalState < typename Out::DataTypes > | InRoot |
Public Member Functions | |
| ArticulatedSystemMapping (In *from, Out *to) | |
| virtual | ~ArticulatedSystemMapping () |
| void | init () |
| Initialization method called after each graph modification. | |
| void | apply (typename Out::VecCoord &out, const typename In::VecCoord &in) |
| void | applyJ (typename Out::VecDeriv &out, const typename In::VecDeriv &in) |
| void | applyJT (typename In::VecDeriv &out, const typename Out::VecDeriv &in) |
| void | applyJT (typename In::VecConst &out, const typename Out::VecConst &in) |
| void | draw () |
| void | initTextures () |
| void | update () |
| bool | getShow (const core::objectmodel::BaseObject *m) const |
| bool | getShow (const core::componentmodel::behavior::BaseMechanicalMapping *m) const |
Data Fields | |
| InRoot * | rootModel |
| vector < ArticulatedHierarchyContainer::ArticulationCenter * > | articulationCenters |
| Stores al the articulation centers. | |
| ArticulatedHierarchyContainer * | ahc |
| typedef BasicMapping sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::Inherit |
Definition at line 58 of file ArticulatedSystemMapping.h.
| typedef Inherit::In sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::In |
Definition at line 59 of file ArticulatedSystemMapping.h.
| typedef Inherit::Out sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::Out |
Definition at line 60 of file ArticulatedSystemMapping.h.
| typedef Out::VecCoord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutVecCoord |
Definition at line 61 of file ArticulatedSystemMapping.h.
| typedef Out::VecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutVecDeriv |
Definition at line 62 of file ArticulatedSystemMapping.h.
| typedef Out::Coord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutCoord |
Definition at line 63 of file ArticulatedSystemMapping.h.
| typedef Out::Deriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutDeriv |
Definition at line 64 of file ArticulatedSystemMapping.h.
| typedef Out::SparseVecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutSparseVecDeriv |
Definition at line 65 of file ArticulatedSystemMapping.h.
| typedef Out::SparseDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutSparseDeriv |
Definition at line 66 of file ArticulatedSystemMapping.h.
| typedef In::VecCoord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InVecCoord |
Definition at line 67 of file ArticulatedSystemMapping.h.
| typedef In::VecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InVecDeriv |
Definition at line 68 of file ArticulatedSystemMapping.h.
| typedef In::Coord sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InCoord |
Definition at line 69 of file ArticulatedSystemMapping.h.
| typedef In::Deriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InDeriv |
Definition at line 70 of file ArticulatedSystemMapping.h.
| typedef In::SparseVecDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InSparseVecDeriv |
Definition at line 71 of file ArticulatedSystemMapping.h.
| typedef In::SparseDeriv sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InSparseDeriv |
Definition at line 72 of file ArticulatedSystemMapping.h.
| typedef In::Real sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::Real |
Definition at line 73 of file ArticulatedSystemMapping.h.
| typedef OutCoord::value_type sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::OutReal |
Definition at line 74 of file ArticulatedSystemMapping.h.
| typedef sofa::core::componentmodel::behavior::MechanicalState<typename Out::DataTypes> sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::InRoot |
Definition at line 76 of file ArticulatedSystemMapping.h.
| sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ArticulatedSystemMapping | ( | In * | from, | |
| Out * | to | |||
| ) | [inline] |
Definition at line 80 of file ArticulatedSystemMapping.h.
| virtual sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::~ArticulatedSystemMapping | ( | ) | [inline, virtual] |
Definition at line 85 of file ArticulatedSystemMapping.h.
| void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init | ( | void | ) | [inline, virtual] |
Initialization method called after each graph modification.
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 42 of file ArticulatedSystemMapping.inl.
References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ahc, sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, sofa::component::container::ArticulatedHierarchyContainer::getArticulationCenters(), sofa::simulation::tree::GNode::getNodeObject(), sofa::simulation::tree::GNode::parent, and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel.
| void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply | ( | typename Out::VecCoord & | out, | |
| const typename In::VecCoord & | in | |||
| ) | [inline] |
Definition at line 57 of file ArticulatedSystemMapping.inl.
References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, sofa::helper::Quater< Real >::axisToQuat(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel, and value.
Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().
| void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ | ( | typename Out::VecDeriv & | out, | |
| const typename In::VecDeriv & | in | |||
| ) | [inline] |
Definition at line 109 of file ArticulatedSystemMapping.inl.
References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, cross(), and value.
| void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT | ( | typename In::VecDeriv & | out, | |
| const typename Out::VecDeriv & | in | |||
| ) | [inline] |
Definition at line 157 of file ArticulatedSystemMapping.inl.
References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters, cross(), dot(), and sofa::defaulttype::Vec< N, real >::x().
| void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT | ( | typename In::VecConst & | out, | |
| const typename Out::VecConst & | in | |||
| ) | [inline] |
Definition at line 204 of file ArticulatedSystemMapping.inl.
References sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ahc, cross(), dot(), and sofa::component::container::ArticulatedHierarchyContainer::getAcendantList().
| void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::draw | ( | ) | [inline, virtual] |
Display the VisualModel object.
Implements sofa::core::VisualModel.
Definition at line 260 of file ArticulatedSystemMapping.inl.
| void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::initTextures | ( | ) | [inline, virtual] |
Initialize the textures, or other graphical resources.
Called once before the first frame is drawn, and if the graphical context has been recreated.
Implements sofa::core::VisualModel.
Definition at line 102 of file ArticulatedSystemMapping.h.
| void sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::update | ( | ) | [inline, virtual] |
used to update the model if necessary.
Implements sofa::core::VisualModel.
Definition at line 104 of file ArticulatedSystemMapping.h.
| bool sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::getShow | ( | const core::objectmodel::BaseObject * | m | ) | const [inline] |
Definition at line 106 of file ArticulatedSystemMapping.h.
References sofa::core::objectmodel::BaseObject::getContext(), and sofa::core::objectmodel::BaseContext::getShowMappings().
| bool sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::getShow | ( | const core::componentmodel::behavior::BaseMechanicalMapping * | m | ) | const [inline] |
Definition at line 108 of file ArticulatedSystemMapping.h.
References sofa::core::objectmodel::BaseObject::getContext(), and sofa::core::objectmodel::BaseContext::getShowMechanicalMappings().
| InRoot* sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::rootModel |
Definition at line 78 of file ArticulatedSystemMapping.h.
Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().
| vector<ArticulatedHierarchyContainer::ArticulationCenter*> sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::articulationCenters |
Stores al the articulation centers.
Definition at line 113 of file ArticulatedSystemMapping.h.
Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJ(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().
| ArticulatedHierarchyContainer* sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::ahc |
Definition at line 115 of file ArticulatedSystemMapping.h.
Referenced by sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::applyJT(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::init().
1.5.3