SOFA API  b11f9b8c
Open source framework for multi-physics simuation
sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes > Class Template Reference

#include <LinearSolverConstraintCorrection.h>

Component computing constrained forces within a simulated body using the compliance method. More...

Inheritance diagram for sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >

Component computing constrained forces within a simulated body using the compliance method.

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(LinearSolverConstraintCorrection, TDataTypes), SOFA_TEMPLATE(sofa::core::behavior::ConstraintCorrection, TDataTypes))
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void addComplianceInConstraintSpace (const sofa::core::ConstraintParams *cparams, linearalgebra::BaseMatrix *W) override
 
void getComplianceMatrix (linearalgebra::BaseMatrix *) const override
 Fill the matrix m with the full Compliance Matrix. More...
 
void computeMotionCorrection (const core::ConstraintParams *cparams, core::MultiVecDerivId dx, core::MultiVecDerivId f) override
 Compute the corrective motion coming from the motion space force. More...
 
void applyMotionCorrection (const core::ConstraintParams *cparams, Data< VecCoord > &x, Data< VecDeriv > &v, Data< VecDeriv > &dx, const Data< VecDeriv > &f) override
 
void applyPositionCorrection (const sofa::core::ConstraintParams *cparams, Data< VecCoord > &x, Data< VecDeriv > &dx, const Data< VecDeriv > &f) override
 
void applyVelocityCorrection (const sofa::core::ConstraintParams *cparams, Data< VecDeriv > &v, Data< VecDeriv > &dv, const Data< VecDeriv > &f) override
 
void rebuildSystem (SReal massFactor, SReal forceFactor) override
 
Deprecated API
void applyContactForce (const linearalgebra::BaseVector *f) override
 
void resetContactForce () override
 
- Public Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(ConstraintCorrection, TDataTypes), BaseConstraintCorrection)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void cleanup () override
 
void addConstraintSolver (core::behavior::ConstraintSolver *s) override
 
void removeConstraintSolver (core::behavior::ConstraintSolver *s) override
 
void computeMotionCorrectionFromLambda (const core::ConstraintParams *cparams, core::MultiVecDerivId dx, const linearalgebra::BaseVector *lambda) override
 
void applyMotionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId v, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override
 
void applyPositionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override
 
void applyVelocityCorrection (const core::ConstraintParams *cparams, core::MultiVecDerivId v, core::MultiVecDerivId dv, core::ConstMultiVecDerivId correction) override
 
void applyPredictiveConstraintForce (const core::ConstraintParams *cparams, core::MultiVecDerivId f, const linearalgebra::BaseVector *lambda) override
 
MechanicalState< DataTypes > * getMState () const
 
void setMState (MechanicalState< DataTypes > *_mstate)
 
- Public Member Functions inherited from sofa::core::behavior::BaseConstraintCorrection
 SOFA_ABSTRACT_CLASS (BaseConstraintCorrection, objectmodel::BaseObject)
 
virtual bool isActive ()
 
virtual void computeResidual (const core::ExecParams *, linearalgebra::BaseVector *)
 
virtual void getComplianceWithConstraintMerge (linearalgebra::BaseMatrix *, std::vector< int > &)
 For multigrid approach => constraints are merged. More...
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void draw (const core::visual::VisualParams *)
 Render internal data of this object, for debugging purposes. More...
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 Sets a source Object and parses it to collect dependent Data. More...
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
virtual bool insertInNode (BaseNode *)
 
virtual bool removeInNode (BaseNode *)
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
virtual void reinit ()
 Update method called when variables used in precomputation are modified. More...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) are modified. More...
 
virtual void storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const final
 Get the template type names (if any) used to instantiate this object. More...
 
std::string getNameSpaceName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 

Protected Member Functions

 LinearSolverConstraintCorrection (sofa::core::behavior::MechanicalState< DataTypes > *mm=nullptr)
 
virtual ~LinearSolverConstraintCorrection ()
 
- Protected Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
 ConstraintCorrection (MechanicalState< DataTypes > *ms=nullptr)
 Default Constructor. More...
 
 ~ConstraintCorrection () override=default
 Default Destructor. More...
 
- Protected Member Functions inherited from sofa::core::behavior::BaseConstraintCorrection
 BaseConstraintCorrection ()
 
 ~BaseConstraintCorrection () override
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 Implementation of the internal update. More...
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
void trackInternalData (const BaseData &data)
 Method called to add the Data to the DataTracker (listing the Data to track) More...
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 Method called to know if a tracked Data has changed. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 

Unbuilt constraint system during resolution

Data< boolwire_optimization
 constraints are reordered along a wire-like topology (from tip to base) More...
 
SingleLink< LinearSolverConstraintCorrection, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKl_linearSolver
 Link towards the linear solver used to compute the compliance matrix, requiring the inverse of the linear system matrix. More...
 
SingleLink< LinearSolverConstraintCorrection, sofa::core::behavior::OdeSolver, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKl_ODESolver
 Link towards the ODE solver used to recover the integration factors. More...
 
linearalgebra::SparseMatrix< SReal > J
 constraint matrix More...
 
linearalgebra::FullVector< SReal > F
 forces computed from the constraints More...
 
MechanicalState< DataTypes > * mstate
 
void verify_constraints ()
 
bool hasConstraintNumber (int index) override
 
void resetForUnbuiltResolution (SReal *f, std::list< unsigned int > &renumbering) override
 
void addConstraintDisplacement (SReal *d, int begin, int end) override
 
void setConstraintDForce (SReal *df, int begin, int end, bool update) override
 
void getBlockDiagonalCompliance (linearalgebra::BaseMatrix *W, int begin, int end) override
 
virtual void computeJ (sofa::linearalgebra::BaseMatrix *W, const MatrixDeriv &j)
 Compute the compliance matrix. More...
 

Additional Inherited Members

- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- Protected Attributes inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
MechanicalState< DataTypes > * mstate
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 
- Static Public Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
template<class T >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 Pre-construction check method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ F

forces computed from the constraints

◆ J

constraint matrix

◆ l_linearSolver

Link towards the linear solver used to compute the compliance matrix, requiring the inverse of the linear system matrix.

◆ l_ODESolver

◆ mstate

template<class TDataTypes >
MechanicalState<DataTypes>* sofa::core::behavior::ConstraintCorrection< TDataTypes >::mstate
protected

◆ wire_optimization

template<class TDataTypes >
Data< bool > sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >::wire_optimization

constraints are reordered along a wire-like topology (from tip to base)

Constructor details

◆ LinearSolverConstraintCorrection()

◆ ~LinearSolverConstraintCorrection()

Function details

◆ addComplianceInConstraintSpace()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::addComplianceInConstraintSpace ( const sofa::core::ConstraintParams cparams,
linearalgebra::BaseMatrix W 
)
overridevirtual

◆ addConstraintDisplacement()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::addConstraintDisplacement ( SReal *  d,
int  begin,
int  end 
)
overridevirtual

◆ applyContactForce()

◆ applyMotionCorrection()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::applyMotionCorrection ( const core::ConstraintParams cparams,
Data< VecCoord > &  x,
Data< VecDeriv > &  v,
Data< VecDeriv > &  dx,
const Data< VecDeriv > &  f 
)
overridevirtual

◆ applyPositionCorrection()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::applyPositionCorrection ( const sofa::core::ConstraintParams cparams,
Data< VecCoord > &  x,
Data< VecDeriv > &  dx,
const Data< VecDeriv > &  f 
)
overridevirtual

◆ applyVelocityCorrection()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::applyVelocityCorrection ( const sofa::core::ConstraintParams cparams,
Data< VecDeriv > &  v,
Data< VecDeriv > &  dv,
const Data< VecDeriv > &  f 
)
overridevirtual

◆ computeJ()

template<class TDataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >::computeJ ( sofa::linearalgebra::BaseMatrix W,
const MatrixDeriv j 
)
protectedvirtual

Compute the compliance matrix.

◆ computeMotionCorrection()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::computeMotionCorrection ( const core::ConstraintParams cparams,
core::MultiVecDerivId  dx,
core::MultiVecDerivId  f 
)
overridevirtual

Compute the corrective motion coming from the motion space force.

Parameters
cparamsthe ConstraintParams relative to the constraint solver
dxthe VecId where to store the corrective motion
fis the VecId where the motion space force : f = J^t x lambda

Implements sofa::core::behavior::ConstraintCorrection< TDataTypes >.

◆ getBlockDiagonalCompliance()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::getBlockDiagonalCompliance ( linearalgebra::BaseMatrix W,
int  begin,
int  end 
)
overridevirtual

◆ getComplianceMatrix()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::getComplianceMatrix ( linearalgebra::BaseMatrix m) const
overridevirtual

Fill the matrix m with the full Compliance Matrix.

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ hasConstraintNumber()

template<class DataTypes >
bool sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::hasConstraintNumber ( int  index)
overridevirtual

◆ init()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::init ( void  )
overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

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

◆ rebuildSystem()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::rebuildSystem ( SReal  ,
SReal   
)
overridevirtual

Rebuild the system using a mass and force factor Experimental API used to investigate convergence issues.

Reimplemented from sofa::core::behavior::BaseConstraintCorrection.

◆ resetContactForce()

◆ resetForUnbuiltResolution()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::resetForUnbuiltResolution ( SReal *  f,
std::list< unsigned int > &  renumbering 
)
overridevirtual

◆ setConstraintDForce()

template<class DataTypes >
void sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< DataTypes >::setConstraintDForce ( SReal *  df,
int  begin,
int  end,
bool  update 
)
overridevirtual

◆ SOFA_CLASS()

template<class TDataTypes >
sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(LinearSolverConstraintCorrection< TDataTypes >, TDataTypes)  ,
SOFA_TEMPLATE(sofa::core::behavior::ConstraintCorrection, TDataTypes)   
)

◆ verify_constraints()