#include <DistanceMapping.h>

Inheritance diagram for sofa::component::mapping::DistanceMultiMapping< TIn, TOut >:

[legend]

Detailed Description

template<class TIn, class TOut>
class sofa::component::mapping::DistanceMultiMapping< TIn, TOut >

Maps point positions from serveral mstates to distances (in distance unit). Type TOut corresponds to a scalar value. The pairs are given in an EdgeSetTopologyContainer in the same node. The points index are given as pair(mstate_index,dof_index) in the Data indexPairs. If the rest lengths are not defined, they are set using the initial values. If computeDistance is set to true, the rest lengths are set to 0.

In: parent point positions Out: distance between point pairs, minus a rest distance.

Author: Matthieu Nesme

Public Attributes
Data< bool >	f_computeDistance
	computeDistance = true —> restDistance = 0 More...

Data< helper::vector< Real > >	f_restLengths
	rest length of each link More...

Data< Real >	d_showObjectScale
	drawing size More...

Data< defaulttype::RGBAColor >	d_color
	drawing color More...

Data< helper::vector< defaulttype::Vec2i > >	d_indexPairs
	for each child, its parent and index in parent More...

Data< unsigned >	d_geometricStiffness
	how to compute geometric stiffness (0->no GS, 1->exact GS, 2->stabilized GS) More...

SingleLink< DistanceMultiMapping< TIn, TOut >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_topology
	Link to be set to the topology container in the component graph. More...

Public Attributes inherited from sofa::core::MultiMapping< TIn, TOut >
Data< bool >	f_applyRestPosition

Public Attributes inherited from sofa::core::BaseMapping
Data< bool >	f_mapForces
	Are forces mapped ? More...

Data< bool >	f_mapConstraints
	Are constraints mapped ? More...

Data< bool >	f_mapMasses
	Are masses mapped ? More...

Data< bool >	f_mapMatrices
	Are matrix explicit mapped? More...

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_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::Warning >	serr

helper::system::SofaOStream< helper::logging::Message::Info >	sout

helper::system::SofaEndl< Base >	sendl
	runs the stream processing More...

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the objet belongs to More...

Data< sofa::defaulttype::BoundingBox >	f_bbox
	this object bounding box More...

Data< ComponentState >	d_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
topology::EdgeSetTopologyContainer *	m_edgeContainer
	where the edges are defined More...

helper::vector< defaulttype::BaseMatrix * >	baseMatrices
	Jacobian of the mapping, in a vector. More...

helper::vector< Direction >	directions
	Unit vectors in the directions of the lines. More...

helper::vector< Real >	invlengths
	inverse of current distances. Null represents the infinity (null distance) More...

SparseKMatrixEigen	K

Protected Attributes inherited from sofa::core::MultiMapping< TIn, TOut >
LinkFromModels	fromModels

LinkToModels	toModels

helper::vector< helper::StateMask * >	maskFrom
	keep pointers on the masks More...

helper::vector< helper::StateMask * >	maskTo

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_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_TEMPLATE2(DistanceMultiMapping, TIn, TOut), SOFA_TEMPLATE2(core::MultiMapping, TIn, TOut))

void	addPoint (const core::BaseState *fromModel, int index)

void	addPoint (int fromModel, int index)

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

void	apply (const core::MechanicalParams mparams, const helper::vector< OutDataVecCoord > &dataVecOutPos, const helper::vector< const InDataVecCoord * > &dataVecInPos) override

void	applyJ (const core::MechanicalParams mparams, const helper::vector< OutDataVecDeriv > &dataVecOutVel, const helper::vector< const InDataVecDeriv * > &dataVecInVel) override

void	applyJT (const core::MechanicalParams mparams, const helper::vector< InDataVecDeriv > &dataVecOutForce, const helper::vector< const OutDataVecDeriv * > &dataVecInForce) override

virtual void	apply (const helper::vector< OutVecCoord * > &outPos, const vecConstInVecCoord &inPos)

virtual void	applyJ (const helper::vector< OutVecDeriv * > &outDeriv, const helper::vector< const InVecDeriv * > &inDeriv)

virtual void	applyJT (const helper::vector< InVecDeriv * > &outDeriv, const helper::vector< const OutVecDeriv * > &inDeriv)

void	applyJT (const core::ConstraintParams , const helper::vector< InDataMatrixDeriv > &, const helper::vector< const OutDataMatrixDeriv * > &) override
	This method must be reimplemented by all mappings if they need to support constraints. More...

void	applyDJT (const core::MechanicalParams *, core::MultiVecDerivId inForce, core::ConstMultiVecDerivId outForce) override
	Accumulate a change of parent force due to the change of the mapping, for a constant child force. Null for linear mappings. More...

virtual const helper::vector< sofa::defaulttype::BaseMatrix * > *	getJs () override

void	updateK (const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForce) override

const defaulttype::BaseMatrix *	getK () override

void	draw (const core::visual::VisualParams *vparams) override
	Render internal data of this object, for debugging purposes. More...

void	updateForceMask () override

Public Member Functions inherited from sofa::core::MultiMapping< TIn, TOut >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(MultiMapping, TIn, TOut), BaseMapping)

void	addInputModel (BaseState *model, const std::string &path="")

void	addOutputModel (BaseState *model, const std::string &path="")

const VecFromModels &	getFromModels ()
	Return the reference to fromModels. More...

const VecToModels &	getToModels ()
	Return reference to toModels. More...

helper::vector< BaseState * >	getFrom () override
	Return a container of input models statically casted as BaseObject*. More...

helper::vector< BaseState * >	getTo () override
	Return container of output model statically casted as BaseObject*. More...

virtual helper::vector< behavior::BaseMechanicalState * >	getMechFrom () override
	Get the source (upper) model. More...

virtual helper::vector< behavior::BaseMechanicalState * >	getMechTo () override
	Get the destination (lower, mapped) model. More...

void	apply (const MechanicalParams *mparams, MultiVecCoordId outPos, ConstMultiVecCoordId inPos) override

void	applyJ (const MechanicalParams *mparams, MultiVecDerivId outVel, ConstMultiVecDerivId inVel) override

void	applyJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce) override

void	applyJT (const ConstraintParams *cparams, MultiMatrixDerivId inConst, ConstMultiMatrixDerivId outConst) override
	ApplyJT (Constraint)///. More...

void	computeAccFromMapping (const MechanicalParams *mparams, MultiVecDerivId outAcc, ConstMultiVecDerivId inVel, ConstMultiVecDerivId inAcc) override
	computeAccFromMapping More...

virtual void	computeAccFromMapping (const MechanicalParams , const helper::vector< OutDataVecDeriv > &, const helper::vector< const InDataVecDeriv * > &, const helper::vector< const InDataVecDeriv * > &)
	This method must be reimplemented by all mappings if they need to support composite accelerations. More...

void	init () override

void	disable () override

virtual std::string	getTemplateName () const override
	Get the template type names (if any) used to instantiate this object. More...

Public Member Functions inherited from sofa::core::BaseMapping
	SOFA_ABSTRACT_CLASS (BaseMapping, objectmodel::BaseObject)

virtual bool	setFrom (BaseState *from)
	If the type is compatible set the input model and return true, otherwise do nothing and return false. More...

virtual bool	setTo (BaseState *to)
	If the type is compatible set the output model and return true, otherwise do nothing and return false. More...

virtual bool	isMechanical () const
	Return true if this mapping should be used as a mechanical mapping. More...

virtual bool	sameTopology () const

virtual const sofa::defaulttype::BaseMatrix *	getJ (const MechanicalParams *)

virtual const sofa::defaulttype::BaseMatrix *	getJ ()

virtual sofa::defaulttype::BaseMatrix *	createMappedMatrix (const behavior::BaseMechanicalState state1, const behavior::BaseMechanicalState state2, func_createMappedMatrix)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

virtual bool	areForcesMapped () const

virtual bool	areConstraintsMapped () const

virtual bool	areMassesMapped () const

virtual bool	areMatricesMapped () const

virtual void	setForcesMapped (bool b)

virtual void	setConstraintsMapped (bool b)

virtual void	setMassesMapped (bool b)

virtual void	setMatricesMapped (bool b)

virtual void	setNonMechanical ()

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...

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 BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (const std::string &name) const

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

virtual void	handleEvent (Event *)
	Handle an event. More...

virtual void	handleTopologyChange ()

virtual void	handleTopologyChange (core::topology::Topology *t)

void	parse (BaseObjectDescription *arg) override
	Parse the given description to assign values to this object's fields and potentially other parameters. More...

virtual void	bwdInit ()
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

virtual void	reinit ()
	Update method called when variables used in precomputation are modified. More...

void	updateInternal ()
	Update method called when variables (used to compute other internal variables) are modified. More...

virtual void	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

virtual void	cleanup ()

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () 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::TagSet &	getTags () 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=" ")

BaseData *	findData (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...

BaseLink *	findLink (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 VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () 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
	DistanceMultiMapping ()

virtual	~DistanceMultiMapping ()

void	computeCoordPositionDifference (Direction &r, const InCoord &a, const InCoord &b)
	r=b-a only for position (eventual rotation, affine transform... remains null) More...

Protected Member Functions inherited from sofa::core::MultiMapping< TIn, TOut >
	MultiMapping ()
	Constructor. More...

	~MultiMapping () override
	Destructor. More...

void	getVecInCoord (const MultiVecCoordId id, helper::vector< InDataVecCoord * > &v) const

void	getConstVecInCoord (const ConstMultiVecCoordId id, helper::vector< const InDataVecCoord * > &v) const

void	getVecInDeriv (const MultiVecDerivId id, helper::vector< InDataVecDeriv * > &v) const

void	getConstVecInDeriv (const ConstMultiVecDerivId id, helper::vector< const InDataVecDeriv * > &v) const

void	getMatInDeriv (const MultiMatrixDerivId id, helper::vector< InDataMatrixDeriv * > &v) const

void	getConstMatInDeriv (const ConstMultiMatrixDerivId id, helper::vector< const InDataMatrixDeriv * > &v) const

void	getVecOutCoord (const MultiVecCoordId id, helper::vector< OutDataVecCoord * > &v) const

void	getConstVecOutCoord (const ConstMultiVecCoordId id, helper::vector< const OutDataVecCoord * > &v) const

void	getVecOutDeriv (const MultiVecDerivId id, helper::vector< OutDataVecDeriv * > &v) const

void	getConstVecOutDeriv (const ConstMultiVecDerivId id, helper::vector< const OutDataVecDeriv * > &v) const

void	getMatOutDeriv (const MultiMatrixDerivId id, helper::vector< OutDataMatrixDeriv * > &v) const

void	getConstMatOutDeriv (const ConstMultiMatrixDerivId id, helper::vector< const OutDataMatrixDeriv * > &v) const

void	updateForceMask () override

Protected Member Functions inherited from sofa::core::BaseMapping
	BaseMapping ()
	Constructor. More...

	~BaseMapping () override
	Destructor. More...

bool	testMechanicalState (BaseState *state)

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...

Additional Inherited Members
Static Public Member Functions inherited from sofa::core::MultiMapping< TIn, TOut >
static std::string	templateName (const MultiMapping< TIn, TOut > *=nullptr)

template<class T >
static std::string	shortName (const T ptr=nullptr, objectmodel::BaseObjectDescription arg=nullptr)

template<class T >
static bool	canCreate (T &obj, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)

template<class T >
static T::SPtr	create (T , core::objectmodel::BaseContext context, core::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 MyClass *	GetClass ()

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)