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Open source framework for multi-physics simuation
sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes > Class Template Reference

#include <LinearVelocityProjectiveConstraint.h>

Inheritance diagram for sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >

impose a motion to given DOFs (translation and rotation) The motion between 2 key times is linearly interpolated

Public Attributes

SetIndex d_indices
 indices of the DOFs the constraint is applied to More...
 
Data< type::vector< Real > > d_keyTimes
 the key frames when the motion is defined by the user More...
 
Data< VecDerivd_keyVelocities
 the motions corresponding to the key frames More...
 
SetIndex d_coordinates
 the coordinates on which to applay velocities More...
 
Real prevT
 the key times surrounding the current simulation time (for interpolation) More...
 
Real nextT
 
Deriv prevV
 the velocities corresponding to the surrouding key times More...
 
Deriv nextV
 
VecCoord x0
 position at the initial step for constrained DOFs position More...
 
VecCoord xP
 position at the previous step for constrained DOFs position More...
 
SingleLink< LinearVelocityProjectiveConstraint< DataTypes >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKl_topology
 Link to be set to the topology container in the component graph. More...
 
- Public Attributes inherited from sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >
Data< RealendTime
 Time when the constraint becomes inactive (-1 for infinitely active) More...
 
- 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}
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(LinearVelocityProjectiveConstraint, TDataTypes), SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet, TDataTypes))
 
void clearIndices ()
 methods to add/remove some indices, keyTimes, keyVelocity More...
 
void addIndex (Index index)
 
void removeIndex (Index index)
 
void clearKeyVelocities ()
 
void addKeyVelocity (Real time, Deriv movement)
 
void init () override
 – Constraint interface More...
 
void reset () override
 Reset to initial state. More...
 
void projectResponse (const core::MechanicalParams *mparams, DataVecDeriv &resData) override
 
void projectVelocity (const core::MechanicalParams *mparams, DataVecDeriv &vData) override
 
void projectPosition (const core::MechanicalParams *mparams, DataVecCoord &xData) override
 
void projectJacobianMatrix (const core::MechanicalParams *mparams, DataMatrixDeriv &cData) override
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
- Public Member Functions inherited from sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >
 SOFA_CLASS2 (SOFA_TEMPLATE(ProjectiveConstraintSet, TDataTypes), BaseProjectiveConstraintSet, SOFA_TEMPLATE(SingleStateAccessor, TDataTypes))
 
virtual bool isActive () const
 if false, the constraint does nothing More...
 
virtual type::vector< core::BaseState * > getModels () override
 Return the lists of models this constraint applies to. More...
 
virtual void projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId)=0
 
virtual void projectResponse (const MechanicalParams *, double **)
 Project the compliance Matrix to constrained space. More...
 
void applyConstraint (const MechanicalParams *, const sofa::core::behavior::MultiMatrixAccessor *) override
 Project the global Mechanical Matrix to constrained space using offset parameter. More...
 
void applyConstraint (const MechanicalParams *, linearalgebra::BaseVector *, const sofa::core::behavior::MultiMatrixAccessor *) override
 Project the global Mechanical Vector to constrained space using offset parameter. More...
 
void projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId) override
 
void projectJacobianMatrix (const MechanicalParams *mparams, MultiMatrixDerivId cId) override
 
void projectVelocity (const MechanicalParams *mparams, MultiVecDerivId vId) override
 
void projectPosition (const MechanicalParams *mparams, MultiVecCoordId xId) override
 
- Public Member Functions inherited from sofa::core::behavior::BaseProjectiveConstraintSet
 SOFA_ABSTRACT_CLASS (BaseProjectiveConstraintSet, objectmodel::BaseObject)
 
int getGroup () const
 
void setGroup (int g)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
virtual void projectResponse (const MechanicalParams *, double **)
 Project the compliance Matrix to constrained space. More...
 
virtual void projectMatrix (sofa::linearalgebra::BaseMatrix *, unsigned)
 
virtual void applyConstraint (sofa::core::behavior::ZeroDirichletCondition *)
 
- Public Member Functions inherited from sofa::core::behavior::StateAccessor
 SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject)
 
virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container & getMechanicalStates () const
 Return a list of mechanical states to which this component is associated. More...
 
void computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
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 cleanup ()
 
- 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)
 
- Public Member Functions inherited from sofa::core::behavior::SingleStateAccessor< TDataTypes >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, TDataTypes), StateAccessor)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< TDataTypes > * getMState ()
 
const MechanicalState< TDataTypes > * getMState () const
 

Protected Member Functions

 LinearVelocityProjectiveConstraint ()
 
virtual ~LinearVelocityProjectiveConstraint ()
 
- Protected Member Functions inherited from sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >
 ProjectiveConstraintSet (MechanicalState< TDataTypes > *mm=nullptr)
 
 ~ProjectiveConstraintSet () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseProjectiveConstraintSet
 BaseProjectiveConstraintSet ()
 
 ~BaseProjectiveConstraintSet () override
 
- Protected Member Functions inherited from sofa::core::behavior::StateAccessor
 StateAccessor ()
 
 ~StateAccessor () override=default
 
- 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...
 
- Protected Member Functions inherited from sofa::core::behavior::SingleStateAccessor< TDataTypes >
 SingleStateAccessor (MechanicalState< TDataTypes > *mm=nullptr)
 
 ~SingleStateAccessor () override=default
 

Additional Inherited Members

- Protected Attributes inherited from sofa::core::behavior::BaseProjectiveConstraintSet
Data< int > group
 ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. More...
 
- Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATEl_mechanicalStates
 
- 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...
 
- Protected Attributes inherited from sofa::core::behavior::SingleStateAccessor< TDataTypes >
SingleLink< SingleStateAccessor< TDataTypes >, MechanicalState< TDataTypes >, BaseLink::FLAG_STRONGLINK > mstate
 
- Static Public Member Functions inherited from sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 
- 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

◆ d_coordinates

template<class TDataTypes >
SetIndex sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::d_coordinates

the coordinates on which to applay velocities

◆ d_indices

template<class TDataTypes >
SetIndex sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::d_indices

indices of the DOFs the constraint is applied to

◆ d_keyTimes

the key frames when the motion is defined by the user

◆ d_keyVelocities

template<class TDataTypes >
Data<VecDeriv > sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::d_keyVelocities

the motions corresponding to the key frames

◆ l_topology

◆ nextT

◆ nextV

◆ prevT

the key times surrounding the current simulation time (for interpolation)

◆ prevV

the velocities corresponding to the surrouding key times

◆ x0

position at the initial step for constrained DOFs position

◆ xP

position at the previous step for constrained DOFs position

Constructor details

◆ LinearVelocityProjectiveConstraint()

◆ ~LinearVelocityProjectiveConstraint()

Function details

◆ addIndex()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::addIndex ( Index  index)

◆ addKeyVelocity()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::addKeyVelocity ( Real  time,
Deriv  movement 
)

add a new key movement

Parameters
time: the simulation time you want to set a movement (in sec)
movement: the corresponding motion for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s

◆ clearIndices()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::clearIndices

methods to add/remove some indices, keyTimes, keyVelocity

◆ clearKeyVelocities()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::clearKeyVelocities

◆ draw()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ init()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::init ( void  )
overridevirtual

– Constraint interface

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

◆ projectJacobianMatrix()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::projectJacobianMatrix ( const core::MechanicalParams ,
DataMatrixDeriv cData 
)
overridevirtual

Project c to constrained space (c models a constraint).

This method must be implemented by the component to handle Lagrange Multiplier based constraint

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

◆ projectPosition()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::projectPosition ( const core::MechanicalParams mparams,
DataVecCoord x 
)
overridevirtual

Project x to constrained space (x models a position).

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectPosition() method.

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

◆ projectResponse()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::projectResponse ( const core::MechanicalParams mparams,
DataVecDeriv dx 
)
overridevirtual

Project dx to constrained space (dx models an acceleration).

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectResponse() method.

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

◆ projectVelocity()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::projectVelocity ( const core::MechanicalParams mparams,
DataVecDeriv v 
)
overridevirtual

Project v to constrained space (v models a velocity).

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectVelocity() method.

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

◆ removeIndex()

template<class TDataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::removeIndex ( Index  index)

◆ reset()

template<class DataTypes >
void sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< DataTypes >::reset
overridevirtual

Reset to initial state.

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

◆ SOFA_CLASS()

template<class TDataTypes >
sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(LinearVelocityProjectiveConstraint< TDataTypes >, TDataTypes)  ,
SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet, TDataTypes)   
)