SOFA API  4a493466
Open source framework for multi-physics simuation
sofa::component::controller::LCPForceFeedback< TDataTypes > Class Template Reference

#include <LCPForceFeedback.h>

Inheritance diagram for sofa::component::controller::LCPForceFeedback< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::component::controller::LCPForceFeedback< TDataTypes >

LCP force field

Public Attributes

Data< doubleforceCoef
 multiply haptic force by this coef. More...
 
Data< doublesolverTimeout
 max time to spend solving constraints. More...
 
Data< boold_derivRotations
 if true, deriv the rotations when updating the violations More...
 
Data< boold_localHapticConstraintAllFrames
 Flag to enable/disable constraint haptic influence from all frames. More...
 
- Public Attributes inherited from sofa::component::controller::ForceFeedback
Data< boold_activate
 boolean to activate or deactivate the forcefeedback More...
 
Data< intd_indice
 Tool indice in the OmniDriver. More...
 
simulation::Nodecontext
 
- 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< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

core::behavior::MechanicalState< DataTypes > * mState
 The device try to follow this mechanical state. More...
 
VecCoord mVal [3]
 
MatrixDeriv mConstraints [3]
 
std::vector< intmId_buf [3]
 
component::constraintset::ConstraintProblemmCP [3]
 
unsigned char mNextBufferId
 
unsigned char mCurBufferId
 
bool mIsCuBufferInUse
 
sofa::component::constraintset::ConstraintSolverImplconstraintSolver
 
helper::system::thread::CTime_timer
 timer: verifies the time rates of the haptic loop More...
 
helper::system::thread::ctime_t time_buf
 
int timer_iterations
 
double haptic_freq
 
unsigned int num_constraints
 
std::mutex lockForce
 mutex used in method which can be touched from outside using method More...
 
- 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
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

 SOFA_CLASS (SOFA_TEMPLATE(LCPForceFeedback, TDataTypes), sofa::component::controller::MechanicalStateForceFeedback< TDataTypes >)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void draw (const core::visual::VisualParams *) override
 Render internal data of this object, for debugging purposes. More...
 
void computeForce (SReal x, SReal y, SReal z, SReal u, SReal v, SReal w, SReal q, SReal &fx, SReal &fy, SReal &fz) override
 
void computeWrench (const sofa::defaulttype::SolidTypes< SReal >::Transform &world_H_tool, const sofa::defaulttype::SolidTypes< SReal >::SpatialVector &V_tool_world, sofa::defaulttype::SolidTypes< SReal >::SpatialVector &W_tool_world) override
 
void computeForce (const VecCoord &state, VecDeriv &forces) override
 
void handleEvent (sofa::core::objectmodel::Event *event) override
 Handle an event. More...
 
virtual std::string getTemplateName () const override
 Get the template type names (if any) used to instantiate this object. More...
 
void setLock (bool value) override
 Overide method to lock or unlock the force feedback computation. According to parameter, value == true (resp. false) will lock (resp. unlock) mutex. More...
 
template<>
void computeForce (double x, double y, double z, double, double, double, double, double &fx, double &fy, double &fz)
 
template<>
void computeWrench (const sofa::defaulttype::SolidTypes< double >::Transform &world_H_tool, const sofa::defaulttype::SolidTypes< double >::SpatialVector &, sofa::defaulttype::SolidTypes< double >::SpatialVector &W_tool_world)
 
template<>
void SOFA_SOFAHAPTICS_API computeForce (double x, double y, double z, double, double, double, double, double &fx, double &fy, double &fz)
 
template<>
void SOFA_SOFAHAPTICS_API computeWrench (const sofa::defaulttype::SolidTypes< double >::Transform &world_H_tool, const sofa::defaulttype::SolidTypes< double >::SpatialVector &, sofa::defaulttype::SolidTypes< double >::SpatialVector &W_tool_world)
 
- Public Member Functions inherited from sofa::component::controller::MechanicalStateForceFeedback< TDataTypes >
 SOFA_CLASS (SOFA_TEMPLATE(MechanicalStateForceFeedback, TDataTypes), sofa::component::controller::ForceFeedback)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void setReferencePosition (sofa::defaulttype::SolidTypes< SReal >::Transform &) override
 
- Public Member Functions inherited from sofa::component::controller::ForceFeedback
 SOFA_ABSTRACT_CLASS (ForceFeedback, core::behavior::BaseController)
 
virtual bool isEnabled ()
 
- Public Member Functions inherited from sofa::core::behavior::BaseController
 SOFA_ABSTRACT_CLASS (BaseController, core::objectmodel::BaseObject)
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
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
 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)
 
void copyAspect (int destAspect, int srcAspect) override
 Copy the source aspect to the destination aspect for each Data in the component. More...
 
void releaseAspect (int aspect) override
 Release memory allocated for the specified aspect. 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...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
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...
 
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
 
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 removeLink (BaseLink *l)
 Remove 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)
 

Static Public Member Functions

template<class T >
static bool canCreate (T *&obj, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 
static std::string templateName (const LCPForceFeedback< DataTypes > *=nullptr)
 
- 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 MyClassGetClass ()
 
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)
 

Protected Member Functions

 LCPForceFeedback ()
 
 ~LCPForceFeedback () override
 
virtual void updateStats ()
 
virtual bool updateConstraintProblem ()
 
virtual void doComputeForce (const VecCoord &state, VecDeriv &forces)
 
- Protected Member Functions inherited from sofa::component::controller::MechanicalStateForceFeedback< TDataTypes >
 MechanicalStateForceFeedback (void)
 
- Protected Member Functions inherited from sofa::component::controller::ForceFeedback
 ForceFeedback ()
 
- 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, unsigned int, 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...
 

Attribute details

template<class TDataTypes >
helper::system::thread::CTime* sofa::component::controller::LCPForceFeedback< TDataTypes >::_timer
protected

timer: verifies the time rates of the haptic loop

template<class TDataTypes >
sofa::component::constraintset::ConstraintSolverImpl* sofa::component::controller::LCPForceFeedback< TDataTypes >::constraintSolver
protected
template<class TDataTypes >
Data<bool> sofa::component::controller::LCPForceFeedback< TDataTypes >::d_derivRotations

if true, deriv the rotations when updating the violations

template<class TDataTypes >
Data< bool > sofa::component::controller::LCPForceFeedback< TDataTypes >::d_localHapticConstraintAllFrames

Flag to enable/disable constraint haptic influence from all frames.

template<class TDataTypes >
Data< double > sofa::component::controller::LCPForceFeedback< TDataTypes >::forceCoef

multiply haptic force by this coef.

template<class TDataTypes >
double sofa::component::controller::LCPForceFeedback< TDataTypes >::haptic_freq
protected
template<class TDataTypes >
std::mutex sofa::component::controller::LCPForceFeedback< TDataTypes >::lockForce
protected

mutex used in method which can be touched from outside using method

See also
setLock if components are modified in another thread.
template<class TDataTypes >
MatrixDeriv sofa::component::controller::LCPForceFeedback< TDataTypes >::mConstraints[3]
protected
template<class TDataTypes >
component::constraintset::ConstraintProblem* sofa::component::controller::LCPForceFeedback< TDataTypes >::mCP[3]
protected
template<class TDataTypes >
unsigned char sofa::component::controller::LCPForceFeedback< TDataTypes >::mCurBufferId
protected
template<class TDataTypes >
std::vector<int> sofa::component::controller::LCPForceFeedback< TDataTypes >::mId_buf[3]
protected
template<class TDataTypes >
bool sofa::component::controller::LCPForceFeedback< TDataTypes >::mIsCuBufferInUse
protected
template<class TDataTypes >
unsigned char sofa::component::controller::LCPForceFeedback< TDataTypes >::mNextBufferId
protected
template<class TDataTypes >
core::behavior::MechanicalState<DataTypes>* sofa::component::controller::LCPForceFeedback< TDataTypes >::mState
protected

The device try to follow this mechanical state.

template<class TDataTypes >
VecCoord sofa::component::controller::LCPForceFeedback< TDataTypes >::mVal[3]
protected
template<class TDataTypes >
unsigned int sofa::component::controller::LCPForceFeedback< TDataTypes >::num_constraints
protected
template<class TDataTypes >
Data< double > sofa::component::controller::LCPForceFeedback< TDataTypes >::solverTimeout

max time to spend solving constraints.

template<class TDataTypes >
helper::system::thread::ctime_t sofa::component::controller::LCPForceFeedback< TDataTypes >::time_buf
protected
template<class TDataTypes >
int sofa::component::controller::LCPForceFeedback< TDataTypes >::timer_iterations
protected

Constructor details

template<class DataTypes >
sofa::component::controller::LCPForceFeedback< DataTypes >::LCPForceFeedback ( )
protected
template<class TDataTypes >
sofa::component::controller::LCPForceFeedback< TDataTypes >::~LCPForceFeedback ( )
inlineoverrideprotected

Function details

template<class TDataTypes >
template<class T >
static bool sofa::component::controller::LCPForceFeedback< TDataTypes >::canCreate ( T *&  obj,
core::objectmodel::BaseContext context,
core::objectmodel::BaseObjectDescription arg 
)
inlinestatic

Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.

template<>
void sofa::component::controller::LCPForceFeedback< Rigid3Types >::computeForce ( double  x,
double  y,
double  z,
double  ,
double  ,
double  ,
double  ,
double fx,
double fy,
double fz 
)
virtual
template<typename DataTypes >
void sofa::component::controller::LCPForceFeedback< DataTypes >::computeForce ( SReal  x,
SReal  y,
SReal  z,
SReal  u,
SReal  v,
SReal  w,
SReal  q,
SReal fx,
SReal fy,
SReal fz 
)
overridevirtual
template<class DataTypes >
void sofa::component::controller::LCPForceFeedback< DataTypes >::computeForce ( const VecCoord state,
VecDeriv forces 
)
overridevirtual
template<>
void SOFA_SOFAHAPTICS_API sofa::component::controller::LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeForce ( double  x,
double  y,
double  z,
double  ,
double  ,
double  ,
double  ,
double fx,
double fy,
double fz 
)
virtual
template<>
void sofa::component::controller::LCPForceFeedback< Rigid3Types >::computeWrench ( const sofa::defaulttype::SolidTypes< double >::Transform &  world_H_tool,
const sofa::defaulttype::SolidTypes< double >::SpatialVector &  ,
sofa::defaulttype::SolidTypes< double >::SpatialVector &  W_tool_world 
)
virtual
template<typename DataTypes >
void sofa::component::controller::LCPForceFeedback< DataTypes >::computeWrench ( const sofa::defaulttype::SolidTypes< SReal >::Transform &  world_H_tool,
const sofa::defaulttype::SolidTypes< SReal >::SpatialVector &  V_tool_world,
sofa::defaulttype::SolidTypes< SReal >::SpatialVector &  W_tool_world 
)
overridevirtual
template<>
void SOFA_SOFAHAPTICS_API sofa::component::controller::LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeWrench ( const sofa::defaulttype::SolidTypes< double >::Transform &  world_H_tool,
const sofa::defaulttype::SolidTypes< double >::SpatialVector &  ,
sofa::defaulttype::SolidTypes< double >::SpatialVector &  W_tool_world 
)
virtual
template<class DataTypes >
void sofa::component::controller::LCPForceFeedback< DataTypes >::doComputeForce ( const VecCoord state,
VecDeriv forces 
)
protectedvirtual
template<class TDataTypes >
void sofa::component::controller::LCPForceFeedback< TDataTypes >::draw ( const core::visual::VisualParams )
inlineoverridevirtual

Render internal data of this object, for debugging purposes.

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

template<class TDataTypes >
virtual std::string sofa::component::controller::LCPForceFeedback< TDataTypes >::getTemplateName ( ) const
inlineoverridevirtual

Get the template type names (if any) used to instantiate this object.

Reimplemented from sofa::core::objectmodel::Base.

template<typename DataTypes >
void sofa::component::controller::LCPForceFeedback< DataTypes >::handleEvent ( sofa::core::objectmodel::Event )
overridevirtual

Handle an event.

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

template<class DataTypes >
void sofa::component::controller::LCPForceFeedback< DataTypes >::init ( void  )
overridevirtual

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

Reimplemented from sofa::component::controller::ForceFeedback.

template<class DataTypes >
void sofa::component::controller::LCPForceFeedback< DataTypes >::setLock ( bool  value)
overridevirtual

Overide method to lock or unlock the force feedback computation. According to parameter, value == true (resp. false) will lock (resp. unlock) mutex.

See also
lockForce

Reimplemented from sofa::component::controller::ForceFeedback.

template<class TDataTypes >
sofa::component::controller::LCPForceFeedback< TDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(LCPForceFeedback< TDataTypes >, TDataTypes)  ,
sofa::component::controller::MechanicalStateForceFeedback< TDataTypes >   
)
template<class TDataTypes >
static std::string sofa::component::controller::LCPForceFeedback< TDataTypes >::templateName ( const LCPForceFeedback< DataTypes > *  = nullptr)
inlinestatic
template<class DataTypes >
bool sofa::component::controller::LCPForceFeedback< DataTypes >::updateConstraintProblem ( )
protectedvirtual
template<class DataTypes >
void sofa::component::controller::LCPForceFeedback< DataTypes >::updateStats ( )
protectedvirtual