sofa::component::odesolver::ComplianceArticulatedSystemSolver Class Reference

#include <ComplianceArticulatedSystemSolver.h>

Inheritance diagram for sofa::component::odesolver::ComplianceArticulatedSystemSolver:

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Collaboration diagram for sofa::component::odesolver::ComplianceArticulatedSystemSolver:

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Detailed Description

Solver to test compliance computation for new articulated system objects.

Definition at line 54 of file ComplianceArticulatedSystemSolver.h.

Public Member Functions
void	init ()
	Initialization method called after each graph modification.
	ComplianceArticulatedSystemSolver ()
void	solve (double dt)
	Main computation method.
Data Fields
Data< unsigned int >	f_maxCGIter
Data< double >	f_smallDenominatorThreshold
Data< bool >	firstCallToSolve
simulation::tree::GNode *	context
component::MechanicalObject < Vec1dTypes > *	articulations
component::MechanicalObject < RigidTypes > *	Objects6D
NewMatVector *	dxfree
int	frame
sofa::component::container::ArticulatedHierarchyContainer *	ahc

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Constructor & Destructor Documentation

sofa::component::odesolver::ComplianceArticulatedSystemSolver::ComplianceArticulatedSystemSolver

(

)

Definition at line 47 of file ComplianceArticulatedSystemSolver.cpp.

References dxfree, and frame.

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Member Function Documentation

void sofa::component::odesolver::ComplianceArticulatedSystemSolver::init

(

void

)

[virtual]

Initialization method called after each graph modification.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 56 of file ComplianceArticulatedSystemSolver.cpp.

References ahc, articulations, sofa::simulation::tree::GNode::child, context, dxfree, sofa::defaulttype::NewMatVector::element(), sofa::core::objectmodel::BaseObject::getContext(), sofa::simulation::tree::GNode::getMechanicalState(), sofa::simulation::tree::GNode::getTreeObject(), Objects6D, and sofa::defaulttype::NewMatVector::resize().

void sofa::component::odesolver::ComplianceArticulatedSystemSolver::solve

(

double

dt

)

[virtual]

Main computation method.

Specify and execute all computation for timestep integration, i.e. advancing the state from time t to t+dt.

Implements sofa::core::componentmodel::behavior::OdeSolver.

Definition at line 71 of file ComplianceArticulatedSystemSolver.cpp.

References ahc, articulations, sofa::component::container::ArticulatedHierarchyContainer::chargedFromFile, context, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::dx(), dxfree, firstCallToSolve, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::force(), frame, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::freePosition(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::freeVelocity(), sofa::simulation::tree::GNode::getTreeObjects(), sofa::core::objectmodel::Data< T >::getValue(), sofa::simulation::tree::OdeSolverImpl::multiVectorPeqBaseVector(), sofa::component::container::ArticulatedHierarchyContainer::numOfFrames, Objects6D, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::position(), sofa::core::objectmodel::Data< T >::setValue(), and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::velocity().

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Field Documentation

Data<unsigned int> sofa::component::odesolver::ComplianceArticulatedSystemSolver::f_maxCGIter

Definition at line 58 of file ComplianceArticulatedSystemSolver.h.

Data<double> sofa::component::odesolver::ComplianceArticulatedSystemSolver::f_smallDenominatorThreshold

Definition at line 59 of file ComplianceArticulatedSystemSolver.h.

Data<bool> sofa::component::odesolver::ComplianceArticulatedSystemSolver::firstCallToSolve

Definition at line 60 of file ComplianceArticulatedSystemSolver.h.

Referenced by solve().

simulation::tree::GNode* sofa::component::odesolver::ComplianceArticulatedSystemSolver::context

Definition at line 61 of file ComplianceArticulatedSystemSolver.h.

Referenced by init(), and solve().

component::MechanicalObject<Vec1dTypes>* sofa::component::odesolver::ComplianceArticulatedSystemSolver::articulations

Definition at line 62 of file ComplianceArticulatedSystemSolver.h.

Referenced by init(), and solve().

component::MechanicalObject<RigidTypes>* sofa::component::odesolver::ComplianceArticulatedSystemSolver::Objects6D

Definition at line 63 of file ComplianceArticulatedSystemSolver.h.

Referenced by init(), and solve().

NewMatVector* sofa::component::odesolver::ComplianceArticulatedSystemSolver::dxfree

Definition at line 64 of file ComplianceArticulatedSystemSolver.h.

Referenced by ComplianceArticulatedSystemSolver(), init(), and solve().

int sofa::component::odesolver::ComplianceArticulatedSystemSolver::frame

Definition at line 65 of file ComplianceArticulatedSystemSolver.h.

Referenced by ComplianceArticulatedSystemSolver(), and solve().

sofa::component::container::ArticulatedHierarchyContainer* sofa::component::odesolver::ComplianceArticulatedSystemSolver::ahc

Definition at line 66 of file ComplianceArticulatedSystemSolver.h.

Referenced by init(), and solve().

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

• modules/sofa/component/odesolver/ComplianceArticulatedSystemSolver.h
• modules/sofa/component/odesolver/ComplianceArticulatedSystemSolver.cpp

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