SOFA API  7352f41a
Open source framework for multi-physics simuation
sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut > Class Template Reference

#include <BeamLinearMapping.h>

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

Public Attributes

Data< boollocalCoord
 true if initial coordinates are in the beam local coordinate system (i.e. a point at (10,0,0) is on the DOF number 10, whereas if this is false it is at whatever position on the beam where the distance from the initial DOF is 10) 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
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 objet belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

type::vector< Coordpoints
 
sofa::type::vector< RealbeamLength
 
sofa::type::vector< CoordrotatedPoints0
 
sofa::type::vector< CoordrotatedPoints1
 
std::unique_ptr< MatrixTypematrixJ
 
bool updateJ
 
- Protected Attributes inherited from sofa::core::Mapping< TIn, TOut >
SingleLink< Mapping< In, Out >, State< In >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKfromModel
 Input Model, also called parent. More...
 
SingleLink< Mapping< In, Out >, State< Out >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKtoModel
 Output Model, also called child. 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
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_TEMPLATE2(BeamLinearMapping, TIn, TOut), SOFA_TEMPLATE2(core::Mapping, TIn, TOut))
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void apply (const core::MechanicalParams *mparams, Data< typename Out::VecCoord > &out, const Data< typename In::VecCoord > &in) override
 
void applyJ (const core::MechanicalParams *mparams, Data< typename Out::VecDeriv > &out, const Data< typename In::VecDeriv > &in) override
 
void applyJT (const core::MechanicalParams *mparams, Data< typename In::VecDeriv > &out, const Data< typename Out::VecDeriv > &in) override
 
void applyJT (const core::ConstraintParams *cparams, Data< typename In::MatrixDeriv > &out, const Data< typename Out::MatrixDeriv > &in) override
 
const sofa::linearalgebra::BaseMatrixgetJ () override
 
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::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...
 
type::vector< BaseState * > getFrom () override
 Return the pointer to the input model. More...
 
type::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 applyDJT (const MechanicalParams *, MultiVecDerivId, ConstMultiVecDerivId) override
 
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...
 
void init () override
 Propagate positions and velocities to the output. More...
 
virtual type::vector< behavior::BaseMechanicalState * > getMechFrom () override
 Get the source (upper) model. More...
 
virtual type::vector< behavior::BaseMechanicalState * > getMechTo () override
 Get the destination (lower, mapped) model. More...
 
sofa::linearalgebra::BaseMatrixcreateMappedMatrix (const behavior::BaseMechanicalState *state1, const behavior::BaseMechanicalState *state2, func_createMappedMatrix) override
 
void disable () override
 
- 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::linearalgebra::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 ()
 
virtual const type::vector< sofa::linearalgebra::BaseMatrix * > * getJs ()
 
virtual void updateK (const MechanicalParams *, ConstMultiVecDerivId)
 
virtual const linearalgebra::BaseMatrixgetK ()
 
virtual void buildGeometricStiffnessMatrix (sofa::core::GeometricStiffnessMatrix *matrices)
 Assembles the geometric stiffness matrix of the mapping in the provided matrix object. 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...
 
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...
 
virtual void reinit ()
 Update method called when variables used in precomputation are modified. More...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) are modified. More...
 
virtual void storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void 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

 BeamLinearMapping ()
 
virtual ~BeamLinearMapping ()
 
- Protected Member Functions inherited from sofa::core::Mapping< TIn, TOut >
 Mapping (State< In > *from=nullptr, State< Out > *to=nullptr)
 
 ~Mapping () override
 Destructor. More...
 
- 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, 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

- 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)
 
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 BaseClassGetClass ()
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ beamLength

template<class TIn , class TOut >
sofa::type::vector<Real> sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::beamLength
protected

◆ localCoord

template<class TIn , class TOut >
Data<bool> sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::localCoord

true if initial coordinates are in the beam local coordinate system (i.e. a point at (10,0,0) is on the DOF number 10, whereas if this is false it is at whatever position on the beam where the distance from the initial DOF is 10)

◆ matrixJ

template<class TIn , class TOut >
std::unique_ptr<MatrixType> sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::matrixJ
protected

◆ points

template<class TIn , class TOut >
type::vector<Coord> sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::points
protected

◆ rotatedPoints0

template<class TIn , class TOut >
sofa::type::vector<Coord> sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::rotatedPoints0
protected

◆ rotatedPoints1

template<class TIn , class TOut >
sofa::type::vector<Coord> sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::rotatedPoints1
protected

◆ updateJ

template<class TIn , class TOut >
bool sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::updateJ
protected

Constructor details

◆ BeamLinearMapping()

template<class TIn , class TOut >
sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::BeamLinearMapping ( )
inlineprotected

◆ ~BeamLinearMapping()

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

Function details

◆ apply()

template<class TIn , class TOut >
void sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::apply ( const core::MechanicalParams mparams,
Data< typename Out::VecCoord > &  out,
const Data< typename In::VecCoord > &  in 
)
override

◆ applyJ()

template<class TIn , class TOut >
void sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::applyJ ( const core::MechanicalParams mparams,
Data< typename Out::VecDeriv > &  out,
const Data< typename In::VecDeriv > &  in 
)
override

◆ applyJT() [1/2]

template<class TIn , class TOut >
void sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::applyJT ( const core::ConstraintParams cparams,
Data< typename In::MatrixDeriv > &  out,
const Data< typename Out::MatrixDeriv > &  in 
)
override

◆ applyJT() [2/2]

template<class TIn , class TOut >
void sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::applyJT ( const core::MechanicalParams mparams,
Data< typename In::VecDeriv > &  out,
const Data< typename Out::VecDeriv > &  in 
)
override

◆ draw()

template<class TIn , class TOut >
void sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getJ()

template<class TIn , class TOut >
const sofa::linearalgebra::BaseMatrix * sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::getJ
overridevirtual

Reimplemented from sofa::core::BaseMapping.

◆ init()

template<class TIn , class TOut >
void sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::init ( void  )
overridevirtual

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

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

◆ SOFA_CLASS()

template<class TIn , class TOut >
sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >::SOFA_CLASS ( SOFA_TEMPLATE2(BeamLinearMapping< TIn, TOut >, TIn, TOut)  ,
SOFA_TEMPLATE2(core::Mapping, TIn, TOut)   
)

Enum details

◆ anonymous enum

template<class TIn , class TOut >
anonymous enum
Enumerator

◆ anonymous enum

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

◆ anonymous enum

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