SOFA API  99934cbc
Open source framework for multi-physics simuation
sofa::component::container::ArticulationCenter Class Reference

#include <ArticulatedHierarchyContainer.h>

Inheritance diagram for sofa::component::container::ArticulationCenter:

Detailed Description

This class defines an articulation center. This contains a set of articulations. An articulation center is always defined between two DOF's (ParentDOF and ChildDOF). It stores the local position of the center articulation in relation to this DOF's (posOnParent, posOnChild), theirs indices (parentIndex, childIndex) and the global position of the articulation center. The local positions and indices have to be provided at initialization. For the same articulation center can be defined several articulations. All the variables which are defined in this class can be modified once sofa is running.

Public Attributes

Data< intparentIndex
 Parent of the center articulation. More...
 
Data< intchildIndex
 Child of the center articulation. More...
 
Data< defaulttype::Vector3 > globalPosition
 Global position of the articulation center. More...
 
Data< defaulttype::Vector3 > posOnParent
 Parent position of the articulation center. More...
 
Data< defaulttype::Vector3 > posOnChild
 Child position of the articulation center. More...
 
Data< intarticulationProcess
 0 - (default) hierarchy between articulations (euler angles) 1- ( on Parent) no hierarchy - axis are attached to the parent 2- (attached on Child) no hierarchy - axis are attached to the child More...
 
ArticulatedHierarchyContainer::Transform H_p_pLc
 
ArticulatedHierarchyContainer::Transform H_c_cLp
 
ArticulatedHierarchyContainer::Transform H_pLc_cLp
 
helper::vector< Articulation * > articulations
 
defaulttype::Quat OrientationArticulationCenter
 
defaulttype::Vector3 DisplacementArticulationCenter
 
defaulttype::Vector3 Disp_Rotation
 
- 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
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
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::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate
 
DeprecatedAndRemoved d_componentstate
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Public Member Functions

 SOFA_CLASS (ArticulationCenter, core::objectmodel::BaseObject)
 
defaulttype::Vector3 posOnChildGlobal (defaulttype::Quat localToGlobal)
 
defaulttype::Vector3 initTranslateChild (defaulttype::Quat objectRotation)
 
defaulttype::Vector3 translateChild (defaulttype::Quat object1Rotation, defaulttype::Quat object2Rotation)
 
defaulttype::Vector3 correctPosChild (defaulttype::Vector3 object1Pos, defaulttype::Quat object1Rot, defaulttype::Vector3 object2Pos, defaulttype::Quat object2Rot)
 
helper::vector< Articulation * > & getArticulations ()
 
- 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)
 
void * findLinkDestClass (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 *)
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
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 init ()
 Initialization method called at graph creation and modification, during top-down traversal. 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...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
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...
 
virtual 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
 Get the template type names (if any) used to instantiate this object. More...
 
virtual 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
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
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
 
bool IsInheritingFromBase ()
 
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 (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

 ArticulationCenter ()
 
 ~ArticulationCenter () 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...
 

Additional Inherited Members

- 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::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 void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

Data<int> sofa::component::container::ArticulationCenter::articulationProcess

0 - (default) hierarchy between articulations (euler angles) 1- ( on Parent) no hierarchy - axis are attached to the parent 2- (attached on Child) no hierarchy - axis are attached to the child

It tells if the articulations of the articulation center are processed one by one or globally: 0 - (default ) articulation are treated one by one, the axis of the second articulation is updated by the potential rotation of the first articulation potential problems could arise when rotation exceed 90° (known problem of euler angles) 1 - (Attach on Parent) the axis of the articulations are linked to the parent - rotations are treated by successive increases - 2 - (Attach on Child ) the axis of the articulations are linked to the child (estimate position from the previous time step) - rotations are treated by successive increases -

helper::vector<Articulation*> sofa::component::container::ArticulationCenter::articulations
Data<int> sofa::component::container::ArticulationCenter::childIndex

Child of the center articulation.

All DOF's can be identified, in an univocal way, by an index this variable will store the index of the childDOF of the articulation center

defaulttype::Vector3 sofa::component::container::ArticulationCenter::Disp_Rotation
defaulttype::Vector3 sofa::component::container::ArticulationCenter::DisplacementArticulationCenter
Data<defaulttype::Vector3> sofa::component::container::ArticulationCenter::globalPosition

Global position of the articulation center.

Global position for the articulation center. It's not necessary to provide it at initialization. This will be computed in mapping using the global position of the parent DOF and the local position of the center articulation

ArticulatedHierarchyContainer::Transform sofa::component::container::ArticulationCenter::H_c_cLp
ArticulatedHierarchyContainer::Transform sofa::component::container::ArticulationCenter::H_p_pLc

for ARBORIS Mapping Store information about the transformation induced by the articulation center (joint) H_p_pLc and H_c_cLp redefine posOnParent, posOnChild (a local rotation between the center of the articualtion and the parent/child bodies can be defined) H_pLc_cLp is transformation induced by the articulations of the articulation center (joint) it is updated during "apply" function of the Mapping

ArticulatedHierarchyContainer::Transform sofa::component::container::ArticulationCenter::H_pLc_cLp
defaulttype::Quat sofa::component::container::ArticulationCenter::OrientationArticulationCenter
Data<int> sofa::component::container::ArticulationCenter::parentIndex

Parent of the center articulation.

All DOF's can be identified, in an univocal way, by an index this variable will store the index of the parentDOF of the articulation center

Data<defaulttype::Vector3> sofa::component::container::ArticulationCenter::posOnChild

Child position of the articulation center.

It stores the local position of the center articulation in relation to the global position of the childDOF

Data<defaulttype::Vector3> sofa::component::container::ArticulationCenter::posOnParent

Parent position of the articulation center.

It stores the local position of the center articulation in relation to the global position of the parentDOF

Constructor details

sofa::component::container::ArticulationCenter::ArticulationCenter ( )
protected

This class contain a set of articulations.

See also
Articulation
Parameters
parentIndex.It stores the index of the parentDOF of the articulation center
childIndex.It stores the index of the childDOF of the articulation center
posOnParent.It stores the local position of the center articulation in relation to the global position of the parentDOF
posOnChild.It stores the local position of the center articulation in relation to the global position of the childDOF
sofa::component::container::ArticulationCenter::~ArticulationCenter ( )
inlineoverrideprotected

Function details

defaulttype::Vector3 sofa::component::container::ArticulationCenter::correctPosChild ( defaulttype::Vector3  object1Pos,
defaulttype::Quat  object1Rot,
defaulttype::Vector3  object2Pos,
defaulttype::Quat  object2Rot 
)
inline
helper::vector<Articulation*>& sofa::component::container::ArticulationCenter::getArticulations ( )
inline
defaulttype::Vector3 sofa::component::container::ArticulationCenter::initTranslateChild ( defaulttype::Quat  objectRotation)
inline
defaulttype::Vector3 sofa::component::container::ArticulationCenter::posOnChildGlobal ( defaulttype::Quat  localToGlobal)
inline
sofa::component::container::ArticulationCenter::SOFA_CLASS ( ArticulationCenter  ,
core::objectmodel::BaseObject   
)
defaulttype::Vector3 sofa::component::container::ArticulationCenter::translateChild ( defaulttype::Quat  object1Rotation,
defaulttype::Quat  object2Rotation 
)
inline