SOFA API  4a493466
Open source framework for multi-physics simuation
sofa::component::mapping::RigidMapping< TIn, TOut > Class Template Reference

#include <RigidMapping.h>

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

Classes

class  Loader
 

Public Attributes

Data< VecCoordpoints
 mapped points in local coordinates More...
 
VecCoord rotatedPoints
 vectors from frame origin to mapped points, projected to world coordinates More...
 
RigidMappingInternalData< In, Outdata
 
Data< unsigned intindex
 input DOF index More...
 
sofa::core::objectmodel::DataFileName fileRigidMapping
 Filename. More...
 
Data< booluseX0
 Use x0 instead of local copy of initial positions (to support topo changes) More...
 
Data< boolindexFromEnd
 input DOF index starts from the end of input DOFs vector More...
 
Data< helper::vector< unsigned int > > rigidIndexPerPoint
 For each mapped point, the index of the Rigid it is mapped from. More...
 
Data< boolglobalToLocalCoords
 are the output DOFs initially expressed in global coordinates More...
 
Data< intgeometricStiffness
 assemble (and use) geometric stiffness (0=no GS, 1=non symmetric, 2=symmetrized) More...
 
- Public Attributes inherited from sofa::core::Mapping< TIn, TOut >
Data< boolf_applyRestPosition
 
- Public Attributes inherited from sofa::core::BaseMapping
Data< boolf_mapForces
 Are forces mapped ? More...
 
Data< boolf_mapConstraints
 Are constraints mapped ? More...
 
Data< boolf_mapMasses
 Are masses mapped ? More...
 
Data< boolf_mapMatrices
 Are matrix explicit mapped? More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
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

std::unique_ptr< MatrixTypematrixJ
 
bool updateJ
 
SparseMatrixEigen eigenJacobian
 Jacobian of the mapping used by getJs. More...
 
helper::vector< sofa::defaulttype::BaseMatrix * > eigenJacobians
 
StiffnessSparseMatrixEigen geometricStiffnessMatrix
 
- Protected Attributes inherited from sofa::core::Mapping< TIn, TOut >
SingleLink< Mapping< In, Out >, State< In >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > fromModel
 Input Model, also called parent. More...
 
SingleLink< Mapping< In, Out >, State< Out >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > toModel
 Output Model, also called child. More...
 
ForceMaskmaskFrom
 keep an eye on the dof masks (if the dofs are Mechanical) More...
 
ForceMaskmaskTo
 
- 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_TEMPLATE2(RigidMapping, TIn, TOut), SOFA_TEMPLATE2(core::Mapping, TIn, TOut))
 
int addPoint (const Coord &c)
 
int addPoint (const Coord &c, unsigned int indexFrom)
 
void init () override
 Propagate positions and velocities to the output. More...
 
void reinit () override
 Compute the local coordinates based on the current output coordinates. More...
 
void apply (const core::MechanicalParams *mparams, Data< VecCoord > &out, const Data< InVecCoord > &in) override
 
void applyJ (const core::MechanicalParams *mparams, Data< VecDeriv > &out, const Data< InVecDeriv > &in) override
 
void applyJT (const core::MechanicalParams *mparams, Data< InVecDeriv > &out, const Data< VecDeriv > &in) override
 
void applyJT (const core::ConstraintParams *cparams, Data< InMatrixDeriv > &out, const Data< OutMatrixDeriv > &in) override
 
void applyDJT (const core::MechanicalParams *mparams, core::MultiVecDerivId parentForce, core::ConstMultiVecDerivId childForce) override
 
const sofa::defaulttype::BaseMatrixgetJ () override
 
virtual const helper::vector< sofa::defaulttype::BaseMatrix * > * getJs () override
 
void updateK (const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForceId) override
 
const defaulttype::BaseMatrixgetK () override
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
void clear (int reserve=0)
 
void setRepartition (unsigned int value)
 
void setRepartition (sofa::helper::vector< unsigned int > values)
 
void parse (core::objectmodel::BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
template<>
void updateK (const core::MechanicalParams *, core::ConstMultiVecDerivId)
 
template<>
const defaulttype::BaseMatrixgetK ()
 
template<>
void updateK (const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForceId)
 
template<>
const defaulttype::BaseMatrixgetK ()
 
- Public Member Functions inherited from sofa::core::Mapping< TIn, TOut >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(Mapping, TIn, TOut), BaseMapping)
 
virtual void setModels (State< In > *from, State< Out > *to)
 Specify the input and output models. More...
 
bool setFrom (BaseState *from) override
 If the type is compatible set the input model and return true, otherwise do nothing and return false. More...
 
bool setTo (BaseState *to) override
 If the type is compatible set the output model and return true, otherwise do nothing and return false. More...
 
void setPathInputObject (const std::string &o)
 Set the path to the objects mapped in the scene graph. More...
 
void setPathOutputObject (const std::string &o)
 
State< In > * getFromModel ()
 Return the pointer to the input model. More...
 
State< Out > * getToModel ()
 Return the pointer to the output model. More...
 
helper::vector< BaseState * > getFrom () override
 Return the pointer to the input model. More...
 
helper::vector< BaseState * > getTo () override
 Return the pointer to the output model. More...
 
void apply (const MechanicalParams *mparams, MultiVecCoordId outPos, ConstMultiVecCoordId inPos) override
 
virtual void apply (const MechanicalParams *mparams, OutDataVecCoord &out, const InDataVecCoord &in)=0
 This method must be reimplemented by all mappings. More...
 
void applyJ (const MechanicalParams *mparams, MultiVecDerivId outVel, ConstMultiVecDerivId inVel) override
 
virtual void applyJ (const MechanicalParams *mparams, OutDataVecDeriv &out, const InDataVecDeriv &in)=0
 This method must be reimplemented by all mappings. More...
 
void applyJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce) override
 
virtual void applyJT (const MechanicalParams *mparams, InDataVecDeriv &out, const OutDataVecDeriv &in)=0
 This method must be reimplemented by all mappings. More...
 
void applyJT (const ConstraintParams *cparams, MultiMatrixDerivId inConst, ConstMultiMatrixDerivId outConst) override
 ApplyJT (Constraint)///. More...
 
virtual void applyJT (const ConstraintParams *, InDataMatrixDeriv &, const OutDataMatrixDeriv &)
 This method must be reimplemented by all mappings if they need to support constraints. More...
 
void computeAccFromMapping (const MechanicalParams *mparams, MultiVecDerivId outAcc, ConstMultiVecDerivId inVel, ConstMultiVecDerivId inAcc) override
 
virtual void computeAccFromMapping (const MechanicalParams *, OutDataVecDeriv &, const InDataVecDeriv &, const InDataVecDeriv &)
 This method must be reimplemented by all mappings if they need to support composite accelerations. 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...
 
sofa::defaulttype::BaseMatrixcreateMappedMatrix (const behavior::BaseMechanicalState *state1, const behavior::BaseMechanicalState *state2, func_createMappedMatrix) 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 isMechanical () const
 Return true if this mapping should be used as a mechanical mapping. More...
 
virtual bool sameTopology () const
 
virtual const sofa::defaulttype::BaseMatrixgetJ (const MechanicalParams *)
 
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 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 handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
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
 
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)
 

Protected Member Functions

 RigidMapping ()
 
virtual ~RigidMapping ()
 
unsigned int getRigidIndex (unsigned int pointIndex) const
 
void load (const char *filename)
 
const VecCoordgetPoints ()
 
void setJMatrixBlock (unsigned outIdx, unsigned inIdx)
 
- Protected Member Functions inherited from sofa::core::Mapping< TIn, TOut >
 Mapping (State< In > *from=nullptr, State< Out > *to=nullptr)
 
 ~Mapping () override
 Destructor. More...
 
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::Mapping< TIn, TOut >
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 std::string templateName (const Mapping< TIn, TOut > *=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, objectmodel::BaseObjectDescription *arg=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)
 

Attribute details

template<class TIn , class TOut >
RigidMappingInternalData<In, Out> sofa::component::mapping::RigidMapping< TIn, TOut >::data
template<class TIn , class TOut >
SparseMatrixEigen sofa::component::mapping::RigidMapping< TIn, TOut >::eigenJacobian
protected

Jacobian of the mapping used by getJs.

template<class TIn , class TOut >
helper::vector<sofa::defaulttype::BaseMatrix*> sofa::component::mapping::RigidMapping< TIn, TOut >::eigenJacobians
protected
template<class TIn , class TOut >
sofa::core::objectmodel::DataFileName sofa::component::mapping::RigidMapping< TIn, TOut >::fileRigidMapping

Filename.

template<class TIn , class TOut >
Data<int> sofa::component::mapping::RigidMapping< TIn, TOut >::geometricStiffness

assemble (and use) geometric stiffness (0=no GS, 1=non symmetric, 2=symmetrized)

template<class TIn , class TOut >
StiffnessSparseMatrixEigen sofa::component::mapping::RigidMapping< TIn, TOut >::geometricStiffnessMatrix
protected
template<class TIn , class TOut >
Data<bool> sofa::component::mapping::RigidMapping< TIn, TOut >::globalToLocalCoords

are the output DOFs initially expressed in global coordinates

template<class TIn , class TOut >
Data<unsigned int> sofa::component::mapping::RigidMapping< TIn, TOut >::index

input DOF index

template<class TIn , class TOut >
Data<bool> sofa::component::mapping::RigidMapping< TIn, TOut >::indexFromEnd

input DOF index starts from the end of input DOFs vector

template<class TIn , class TOut >
std::unique_ptr<MatrixType> sofa::component::mapping::RigidMapping< TIn, TOut >::matrixJ
protected
template<class TIn , class TOut >
Data<VecCoord> sofa::component::mapping::RigidMapping< TIn, TOut >::points

mapped points in local coordinates

template<class TIn , class TOut >
Data< helper::vector<unsigned int> > sofa::component::mapping::RigidMapping< TIn, TOut >::rigidIndexPerPoint

For each mapped point, the index of the Rigid it is mapped from.

template<class TIn , class TOut >
VecCoord sofa::component::mapping::RigidMapping< TIn, TOut >::rotatedPoints

vectors from frame origin to mapped points, projected to world coordinates

template<class TIn , class TOut >
bool sofa::component::mapping::RigidMapping< TIn, TOut >::updateJ
protected
template<class TIn , class TOut >
Data<bool> sofa::component::mapping::RigidMapping< TIn, TOut >::useX0

Use x0 instead of local copy of initial positions (to support topo changes)

Constructor details

template<class TIn , class TOut >
sofa::component::mapping::RigidMapping< TIn, TOut >::RigidMapping ( )
protected
template<class TIn , class TOut >
virtual sofa::component::mapping::RigidMapping< TIn, TOut >::~RigidMapping ( )
inlineprotectedvirtual

Function details

template<class TIn , class TOut >
int sofa::component::mapping::RigidMapping< TIn, TOut >::addPoint ( const Coord c)
template<class TIn , class TOut >
int sofa::component::mapping::RigidMapping< TIn, TOut >::addPoint ( const Coord c,
unsigned int  indexFrom 
)
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::apply ( const core::MechanicalParams mparams,
Data< VecCoord > &  out,
const Data< InVecCoord > &  in 
)
override
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::applyDJT ( const core::MechanicalParams ,
core::MultiVecDerivId  ,
core::ConstMultiVecDerivId   
)
overridevirtual

ApplyDJT (Force)/// Apply the change of force due to the nonlinearity of the mapping and the last propagated displacement. Also called geometric stiffness. The default implementation does nothing, assuming a linear mapping.

This method computes $ f_p += dJ^t f_c $, where $ f_p $ is the parent force and $ f_c $ is the child force. where J is the tangent operator (the linear approximation) of the mapping The child force is accessed in the child state using mparams->readF() . This requires that the child force vector is used by the solver to compute the force $ f(x,v)$ corresponding to the current positions and velocities, and not to store auxiliary values. The displacement is accessed in the parent state using mparams->readDx() . This method generally corresponds to a symmetric stiffness matrix, but with rotations (which are not a commutative group) it is not the case. Since some solvers (including the Conjugate Gradient) require symmetric matrices, a flag is set in the MechanicalParams to say if symmetric matrices are required. If so, non-symmetric geometric stiffness should not be applied.

Reimplemented from sofa::core::Mapping< TIn, TOut >.

template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::applyJ ( const core::MechanicalParams mparams,
Data< VecDeriv > &  out,
const Data< InVecDeriv > &  in 
)
override
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::applyJT ( const core::MechanicalParams mparams,
Data< InVecDeriv > &  out,
const Data< VecDeriv > &  in 
)
override
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::applyJT ( const core::ConstraintParams cparams,
Data< InMatrixDeriv > &  out,
const Data< OutMatrixDeriv > &  in 
)
override
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::clear ( int  reserve = 0)
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

template<class TIn , class TOut >
const sofa::defaulttype::BaseMatrix * sofa::component::mapping::RigidMapping< TIn, TOut >::getJ ( )
overridevirtual

Reimplemented from sofa::core::BaseMapping.

template<class TIn , class TOut >
const helper::vector< sofa::defaulttype::BaseMatrix * > * sofa::component::mapping::RigidMapping< TIn, TOut >::getJs ( )
overridevirtual

Returns pointers to Jacobian matrices associated with parent states, consistently with getFrom(). Most mappings have only one parent, however Multimappings have several parents. For efficiency concerns, please return pointers to defaulttype::EigenBaseSparseMatrix

Reimplemented from sofa::core::BaseMapping.

Returns a pointer to the geometric stiffness matrix. This is the equivalent of applyDJT, for matrix assembly instead of matrix-vector product. This matrix is associated with the parent DOFs. It is a square matrix with a size of the total number of parent DOFs. For efficiency concerns, please return a pointer to a defaulttype::EigenBaseSparseMatrix

Reimplemented from sofa::core::BaseMapping.

template<class TIn , class TOut >
const sofa::defaulttype::BaseMatrix * sofa::component::mapping::RigidMapping< TIn, TOut >::getK ( )
overridevirtual

Returns a pointer to the geometric stiffness matrix. This is the equivalent of applyDJT, for matrix assembly instead of matrix-vector product. This matrix is associated with the parent DOFs. It is a square matrix with a size of the total number of parent DOFs. For efficiency concerns, please return a pointer to a defaulttype::EigenBaseSparseMatrix

Reimplemented from sofa::core::BaseMapping.

Returns a pointer to the geometric stiffness matrix. This is the equivalent of applyDJT, for matrix assembly instead of matrix-vector product. This matrix is associated with the parent DOFs. It is a square matrix with a size of the total number of parent DOFs. For efficiency concerns, please return a pointer to a defaulttype::EigenBaseSparseMatrix

Reimplemented from sofa::core::BaseMapping.

template<class TIn , class TOut >
const RigidMapping< TIn, TOut >::VecCoord & sofa::component::mapping::RigidMapping< TIn, TOut >::getPoints ( )
protected
template<class TIn , class TOut >
unsigned int sofa::component::mapping::RigidMapping< TIn, TOut >::getRigidIndex ( unsigned int  pointIndex) const
protected
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::init ( void  )
overridevirtual

Propagate positions and velocities to the output.

TO REMOVE> FF:why would we remove this, is there any alternative function ?

Reimplemented from sofa::core::Mapping< TIn, TOut >.

template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::load ( const char *  filename)
protected
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::parse ( core::objectmodel::BaseObjectDescription arg)
overridevirtual

Parse the given description to assign values to this object's fields and potentially other parameters.

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

template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::reinit ( )
overridevirtual

Compute the local coordinates based on the current output coordinates.

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

template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::setJMatrixBlock ( unsigned  outIdx,
unsigned  inIdx 
)
protected
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::setRepartition ( unsigned int  value)

to give the number of mapped points attached to each rigid frame

Warning
the mapped points must be sorted by their parent frame indices for backward compatibility with previous data structure
template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::setRepartition ( sofa::helper::vector< unsigned int values)
template<class TIn , class TOut >
sofa::component::mapping::RigidMapping< TIn, TOut >::SOFA_CLASS ( SOFA_TEMPLATE2(RigidMapping< TIn, TOut >, TIn, TOut)  ,
SOFA_TEMPLATE2(core::Mapping, TIn, TOut)   
)

Compute the geometric stiffness matrix based on given child forces K = dJ^T * outForce Default implementation does nothing, corresponding to a linear mapping.

Reimplemented from sofa::core::BaseMapping.

template<class TIn , class TOut >
void sofa::component::mapping::RigidMapping< TIn, TOut >::updateK ( const core::MechanicalParams ,
core::ConstMultiVecDerivId   
)
overridevirtual

Compute the geometric stiffness matrix based on given child forces K = dJ^T * outForce Default implementation does nothing, corresponding to a linear mapping.

Reimplemented from sofa::core::BaseMapping.

Compute the geometric stiffness matrix based on given child forces K = dJ^T * outForce Default implementation does nothing, corresponding to a linear mapping.

Reimplemented from sofa::core::BaseMapping.

Enum details

template<class TIn , class TOut >
anonymous enum
Enumerator
template<class TIn , class TOut >
anonymous enum
Enumerator
NIn 
template<class TIn , class TOut >
anonymous enum
Enumerator
NOut