SOFA API  cd4ffb93
Open source framework for multi-physics simuation
sofa::component::engine::transform::TransformPosition< DataTypes > Class Template Reference

#include <TransformPosition.h>

Inheritance diagram for sofa::component::engine::transform::TransformPosition< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::engine::transform::TransformPosition< DataTypes >

This class transforms the positions of one DataFields into new positions after applying a transformation This transformation can be either : projection on a plane (plane defined by an origin and a normal vector), translation, rotation, scale and some combinations of translation, rotation and scale, affine or read from a transformation file

Protected Attributes

TransformationMethod transformationMethod
 
Data< Coordf_origin
 A 3d point on the plane/Center of the scale. More...
 
Data< VecCoordf_inputX
 input array of 3d points More...
 
Data< VecCoordf_outputX
 output array of 3d points projected on a plane More...
 
Data< Coordf_normal
 plane normal More...
 
Data< Coordf_translation
 translation vector More...
 
Data< Coordf_rotation
 rotation vector More...
 
Data< Coordf_scale
 scale factor More...
 
Data< Mat4x4f_affineMatrix
 4x4 affine matrix More...
 
Data< sofa::helper::OptionsGroupf_method
 transformation method either translation or scale or rotation or random or projectOnPlane More...
 
Data< long > f_seed
 the seed value for the random generator More...
 
Data< Realf_maxRandomDisplacement
 the maximum displacement around initial position for the random transformation More...
 
Data< SetIndexf_fixedIndices
 Indices of the entries that are not transformed. More...
 
core::objectmodel::DataFileName f_filename
 filename of an affine matrix. Supported extensions are: .trm, .tfm, .xfm and .txt(read as .xfm) More...
 
Data< boolf_drawInput
 Draw input points. More...
 
Data< boolf_drawOutput
 Draw output points. More...
 
Data< Realf_pointSize
 Point size. More...
 
- Protected Attributes inherited from sofa::core::DataTrackerDDGNode
DataTracker m_dataTracker
 
- Protected Attributes inherited from sofa::core::objectmodel::DDGNode
DDGLinkContainer inputs
 
DDGLinkContainer outputs
 
- 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

 SOFA_CLASS (SOFA_TEMPLATE(TransformPosition, DataTypes), core::DataEngine)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void reinit () override
 Update method called when variables used in precomputation are modified. More...
 
void doUpdate () override
 Where you put your engine's impl. More...
 
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::DataEngine
 SOFA_ABSTRACT_CLASS (DataEngine, core::objectmodel::BaseObject)
 
void update () final
 
void addInput (sofa::core::objectmodel::BaseData *data)
 Add a new input to this engine. More...
 
void addOutput (objectmodel::BaseData *n)
 Add a new output to this engine. More...
 
- Public Member Functions inherited from sofa::core::DataTrackerDDGNode
 DataTrackerDDGNode ()
 
void addInputs (std::initializer_list< sofa::core::objectmodel::BaseData * > datas)
 Create a DataCallback object associated with multiple Data fields. More...
 
void addOutputs (std::initializer_list< sofa::core::objectmodel::BaseData * > datas)
 
virtual void cleanDirty (const core::ExecParams *params=nullptr)
 
void updateAllInputsIfDirty ()
 
- Public Member Functions inherited from sofa::core::objectmodel::DDGNode
 DDGNode ()
 Constructor. More...
 
virtual ~DDGNode ()
 Destructor. Automatically remove remaining links. More...
 
void addInput (DDGNode *n)
 Add a new input to this node. More...
 
void delInput (DDGNode *n)
 Remove an input from this node. More...
 
void addOutput (DDGNode *n)
 Add a new output to this node. More...
 
void delOutput (DDGNode *n)
 Remove an output from this node. More...
 
const DDGLinkContainergetInputs ()
 Get the list of inputs for this DDGNode. More...
 
const DDGLinkContainergetOutputs ()
 Get the list of outputs for this DDGNode. More...
 
bool isDirty () const
 Returns true if the DDGNode needs to be updated. More...
 
virtual void setDirtyValue ()
 Indicate the value needs to be updated. More...
 
virtual void setDirtyOutputs ()
 Indicate the outputs needs to be updated. This method must be called after changing the value of this node. More...
 
void cleanDirty ()
 Set dirty flag to false. More...
 
virtual void notifyEndEdit ()
 Notify links that the DGNode has been modified. More...
 
void updateIfDirty () const
 Utility method to call update if necessary. This method should be called before reading of writing the value of this node. More...
 
- 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)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
virtual bool insertInNode (BaseNode *)
 
virtual bool removeInNode (BaseNode *)
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
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 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

 TransformPosition ()
 
 ~TransformPosition () override
 
void getTransfoFromTxt ()
 
void getTransfoFromTrm ()
 
void getTransfoFromTfm ()
 
void selectTransformationMethod ()
 
- Protected Member Functions inherited from sofa::core::DataEngine
 DataEngine ()
 Constructor. More...
 
 ~DataEngine () override
 Destructor. Do nothing. More...
 
virtual void doInternalUpdate () final
 Prevent engines to use the internalUpdate mechanism, so that only update/doUpdate is used. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::DDGNode
virtual void doAddInput (DDGNode *n)
 
virtual void doDelInput (DDGNode *n)
 
virtual void doAddOutput (DDGNode *n)
 
virtual void doDelOutput (DDGNode *n)
 
void cleanDirtyOutputsOfInputs ()
 the dirtyOutputs flags of all the inputs will be set to false More...
 
- 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 object 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

◆ f_affineMatrix

template<class DataTypes >
Data<Mat4x4> sofa::component::engine::transform::TransformPosition< DataTypes >::f_affineMatrix
protected

4x4 affine matrix

◆ f_drawInput

template<class DataTypes >
Data<bool> sofa::component::engine::transform::TransformPosition< DataTypes >::f_drawInput
protected

Draw input points.

◆ f_drawOutput

template<class DataTypes >
Data<bool> sofa::component::engine::transform::TransformPosition< DataTypes >::f_drawOutput
protected

Draw output points.

◆ f_filename

filename of an affine matrix. Supported extensions are: .trm, .tfm, .xfm and .txt(read as .xfm)

◆ f_fixedIndices

template<class DataTypes >
Data<SetIndex> sofa::component::engine::transform::TransformPosition< DataTypes >::f_fixedIndices
protected

Indices of the entries that are not transformed.

◆ f_inputX

template<class DataTypes >
Data<VecCoord> sofa::component::engine::transform::TransformPosition< DataTypes >::f_inputX
protected

input array of 3d points

◆ f_maxRandomDisplacement

template<class DataTypes >
Data<Real> sofa::component::engine::transform::TransformPosition< DataTypes >::f_maxRandomDisplacement
protected

the maximum displacement around initial position for the random transformation

◆ f_method

transformation method either translation or scale or rotation or random or projectOnPlane

◆ f_normal

template<class DataTypes >
Data<Coord> sofa::component::engine::transform::TransformPosition< DataTypes >::f_normal
protected

plane normal

◆ f_origin

template<class DataTypes >
Data<Coord> sofa::component::engine::transform::TransformPosition< DataTypes >::f_origin
protected

A 3d point on the plane/Center of the scale.

◆ f_outputX

template<class DataTypes >
Data<VecCoord> sofa::component::engine::transform::TransformPosition< DataTypes >::f_outputX
protected

output array of 3d points projected on a plane

◆ f_pointSize

template<class DataTypes >
Data<Real> sofa::component::engine::transform::TransformPosition< DataTypes >::f_pointSize
protected

Point size.

◆ f_rotation

template<class DataTypes >
Data<Coord> sofa::component::engine::transform::TransformPosition< DataTypes >::f_rotation
protected

rotation vector

◆ f_scale

template<class DataTypes >
Data<Coord> sofa::component::engine::transform::TransformPosition< DataTypes >::f_scale
protected

scale factor

◆ f_seed

template<class DataTypes >
Data<long> sofa::component::engine::transform::TransformPosition< DataTypes >::f_seed
protected

the seed value for the random generator

◆ f_translation

template<class DataTypes >
Data<Coord> sofa::component::engine::transform::TransformPosition< DataTypes >::f_translation
protected

translation vector

◆ transformationMethod

template<class DataTypes >
TransformationMethod sofa::component::engine::transform::TransformPosition< DataTypes >::transformationMethod
protected

Constructor details

◆ TransformPosition()

◆ ~TransformPosition()

template<class DataTypes >
sofa::component::engine::transform::TransformPosition< DataTypes >::~TransformPosition ( )
inlineoverrideprotected

Function details

◆ doUpdate()

template<class DataTypes >
void sofa::component::engine::transform::TransformPosition< DataTypes >::doUpdate ( )
overridevirtual

Where you put your engine's impl.

Implements sofa::core::DataEngine.

◆ draw()

template<class DataTypes >
void sofa::component::engine::transform::TransformPosition< DataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getTransfoFromTfm()

template<class DataTypes >
void sofa::component::engine::transform::TransformPosition< DataTypes >::getTransfoFromTfm
protected

◆ getTransfoFromTrm()

template<class DataTypes >
void sofa::component::engine::transform::TransformPosition< DataTypes >::getTransfoFromTrm
protected

◆ getTransfoFromTxt()

template<class DataTypes >
void sofa::component::engine::transform::TransformPosition< DataTypes >::getTransfoFromTxt
protected

◆ init()

template<class DataTypes >
void sofa::component::engine::transform::TransformPosition< DataTypes >::init ( void  )
overridevirtual

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

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

◆ reinit()

template<class DataTypes >
void sofa::component::engine::transform::TransformPosition< DataTypes >::reinit
overridevirtual

Update method called when variables used in precomputation are modified.

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

◆ selectTransformationMethod()

template<class DataTypes >
void sofa::component::engine::transform::TransformPosition< DataTypes >::selectTransformationMethod
protected

◆ SOFA_CLASS()

template<class DataTypes >
sofa::component::engine::transform::TransformPosition< DataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(TransformPosition< DataTypes >, DataTypes ,
core::DataEngine   
)

Enum details

◆ TransformationMethod

Enumerator
PROJECT_ON_PLANE 
TRANSLATION 
ROTATION 
RANDOM 
SCALE 
SCALE_TRANSLATION 
SCALE_ROTATION_TRANSLATION 
AFFINE