SOFA API  ca70b0f0
Open source framework for multi-physics simuation
sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl Class Referenceabstract

#include <ConstraintSolverImpl.h>

Inheritance diagram for sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl:

Protected Attributes

MultiLink< ConstraintSolverImpl, core::behavior::BaseConstraintCorrection, BaseLink::FLAG_STOREPATHl_constraintCorrections
 
- 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...
 

Public Member Functions

 ConstraintSolverImpl ()
 
 ~ConstraintSolverImpl () override
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void cleanup () override
 
virtual ConstraintProblemgetConstraintProblem ()=0
 
virtual void lockConstraintProblem (sofa::core::objectmodel::BaseObject *from, ConstraintProblem *p1, ConstraintProblem *p2=nullptr)=0
 
void removeConstraintCorrection (core::behavior::BaseConstraintCorrection *s) override
 
- Public Member Functions inherited from sofa::core::behavior::ConstraintSolver
 SOFA_ABSTRACT_CLASS (ConstraintSolver, objectmodel::BaseObject)
 
virtual void solveConstraint (const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())
 
virtual bool prepareStates (const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())=0
 
virtual bool buildSystem (const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())=0
 
virtual void rebuildSystem (SReal, SReal)
 
virtual bool solveSystem (const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())=0
 
virtual bool applyCorrection (const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())=0
 
virtual void computeResidual (const core::ExecParams *)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
virtual MultiVecDerivId getLambda () const
 
virtual MultiVecDerivId getDx () const
 
- 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...
 
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

void postBuildSystem (const core::ConstraintParams *cParams) override
 
void postSolveSystem (const core::ConstraintParams *cParams) override
 
void clearConstraintCorrections ()
 
void resetConstraints (const core::ConstraintParams *cParams)
 
void buildLocalConstraintMatrix (const core::ConstraintParams *cparams, unsigned int &constraintId)
 Call the method buildConstraintMatrix on all the BaseConstraintSet. More...
 
void accumulateMatrixDeriv (const core::ConstraintParams *cparams)
 
unsigned int buildConstraintMatrix (const core::ConstraintParams *cparams)
 
void applyProjectiveConstraintOnConstraintMatrix (const core::ConstraintParams *cparams)
 
void getConstraintViolation (const core::ConstraintParams *cparams, sofa::linearalgebra::BaseVector *v)
 
- Protected Member Functions inherited from sofa::core::behavior::ConstraintSolver
 ConstraintSolver ()
 
 ~ConstraintSolver () override
 
bool prepareStatesTask (const ConstraintParams *, MultiVecId res1, MultiVecId res2)
 
bool buildSystemTask (const ConstraintParams *, MultiVecId res1, MultiVecId res2)
 
bool solveSystemTask (const ConstraintParams *, MultiVecId res1, MultiVecId res2)
 
bool applyCorrectionTask (const ConstraintParams *, MultiVecId res1, MultiVecId res2)
 
- 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...
 

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 state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- 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

◆ l_constraintCorrections

MultiLink< ConstraintSolverImpl, core::behavior::BaseConstraintCorrection, BaseLink::FLAG_STOREPATH> sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::l_constraintCorrections
protected

Constructor details

◆ ConstraintSolverImpl()

sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::ConstraintSolverImpl ( )

◆ ~ConstraintSolverImpl()

sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::~ConstraintSolverImpl ( )
override

Function details

◆ accumulateMatrixDeriv()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::accumulateMatrixDeriv ( const core::ConstraintParams cparams)
protected

Calls the method applyJT on all the mappings to project the mapped constraint matrices on the main constraint matrix

◆ applyProjectiveConstraintOnConstraintMatrix()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::applyProjectiveConstraintOnConstraintMatrix ( const core::ConstraintParams cparams)
protected

◆ buildConstraintMatrix()

unsigned int sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::buildConstraintMatrix ( const core::ConstraintParams cparams)
protected

Reset and build the constraint matrix, including the projection from the mapped DoFs

Returns
The number of constraints, i.e. the size of the constraint matrix

◆ buildLocalConstraintMatrix()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::buildLocalConstraintMatrix ( const core::ConstraintParams cparams,
unsigned int &  constraintId 
)
protected

Call the method buildConstraintMatrix on all the BaseConstraintSet.

◆ cleanup()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::cleanup ( )
overridevirtual

Called just before deleting this object Any object in the tree bellow this object that are to be removed will be removed only after this call, so any references this object holds should still be valid.

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

Reimplemented in sofa::component::constraint::lagrangian::solver::GenericConstraintSolver.

◆ clearConstraintCorrections()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::clearConstraintCorrections ( )
protected

◆ getConstraintProblem()

virtual ConstraintProblem* sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::getConstraintProblem ( )
pure virtual

◆ getConstraintViolation()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::getConstraintViolation ( const core::ConstraintParams cparams,
sofa::linearalgebra::BaseVector v 
)
protected

◆ init()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::init ( void  )
overridevirtual

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

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

Reimplemented in sofa::component::constraint::lagrangian::solver::GenericConstraintSolver.

◆ lockConstraintProblem()

virtual void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::lockConstraintProblem ( sofa::core::objectmodel::BaseObject from,
ConstraintProblem p1,
ConstraintProblem p2 = nullptr 
)
pure virtual

Do not use the following LCPs until the next call to this function. This is used to prevent concurent access to the LCP when using a LCPForceFeedback through an haptic thread.

Implemented in sofa::component::constraint::lagrangian::solver::LCPConstraintSolver, and sofa::component::constraint::lagrangian::solver::GenericConstraintSolver.

◆ postBuildSystem()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::postBuildSystem ( const core::ConstraintParams cParams)
overrideprotectedvirtual

◆ postSolveSystem()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::postSolveSystem ( const core::ConstraintParams cParams)
overrideprotectedvirtual

◆ removeConstraintCorrection()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::removeConstraintCorrection ( core::behavior::BaseConstraintCorrection s)
overridevirtual

Remove reference to ConstraintCorrection

Parameters
cis the ConstraintCorrection

Implements sofa::core::behavior::ConstraintSolver.

◆ resetConstraints()

void sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::resetConstraints ( const core::ConstraintParams cParams)
protected

Calls the method resetConstraint on all the mechanical states and BaseConstraintSet In the case of a MechanicalObject, it clears the constraint jacobian matrix