sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut > Class Template Reference

#include <CenterOfMassMapping.h>

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

Detailed Description

template<class TIn, class TOut>
class sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >

mapping computing the center of mass of an object. the output of the mapping has to be a single dof. Its position is then set from the input DOFs, proportionally to their mass. This allow to control an object by setting forces on its center of mass.

Protected Attributes
sofa::core::behavior::BaseMass *	masses
	pointer on the input DOFs mass More...
double	totalMass
	the total mass of the input object More...

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE2(CenterOfMassMapping, TIn, TOut), SOFA_TEMPLATE2(LinearMapping, TIn, TOut))
void	init () override
void	apply (const sofa::core::MechanicalParams *mparams, OutDataVecCoord &out, const InDataVecCoord &in) override
void	applyJ (const sofa::core::MechanicalParams *mparams, OutDataVecDeriv &out, const InDataVecDeriv &in) override
void	applyJT (const sofa::core::MechanicalParams *mparams, InDataVecDeriv &out, const OutDataVecDeriv &in) override
void	applyJT (const sofa::core::ConstraintParams *, InDataMatrixDeriv &, const OutDataMatrixDeriv &) override
void	draw (const core::visual::VisualParams *vparams) override
Public Member Functions inherited from sofa::component::mapping::linear::crtp::CRTPLinearMapping< TMapping >
	SOFA_CLASS (SOFA_TEMPLATE(CRTPLinearMapping, TMapping), TMapping)
virtual bool	isLinear () const override

Protected Member Functions
	CenterOfMassMapping ()
virtual	~CenterOfMassMapping ()

Attribute details

masses

template<class TIn , class TOut >

sofa::core::behavior::BaseMass* sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::masses

protected

pointer on the input DOFs mass

totalMass

template<class TIn , class TOut >

double sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::totalMass

protected

the total mass of the input object

Constructor details

CenterOfMassMapping()

template<class TIn , class TOut >

sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::CenterOfMassMapping ( )

inlineprotected

~CenterOfMassMapping()

template<class TIn , class TOut >

virtual sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::~CenterOfMassMapping ( )

inlineprotectedvirtual

Function details

apply()

template<class TIn , class TOut >

void sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::apply ( const sofa::core::MechanicalParams *  mparams, OutDataVecCoord &  out, const InDataVecCoord &  in  )

override

applyJ()

template<class TIn , class TOut >

void sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::applyJ ( const sofa::core::MechanicalParams *  mparams, OutDataVecDeriv &  out, const InDataVecDeriv &  in  )

override

applyJT() [1/2]

template<class TIn , class TOut >

void sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::applyJT ( const sofa::core::ConstraintParams *  , InDataMatrixDeriv &  , const OutDataMatrixDeriv &    )

inlineoverride

applyJT() [2/2]

template<class TIn , class TOut >

void sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::applyJT ( const sofa::core::MechanicalParams *  mparams, InDataVecDeriv &  out, const OutDataVecDeriv &  in  )

override

draw()

template<class TIn , class TOut >

void sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::draw ( const core::visual::VisualParams *  vparams )

override

init()

template<class TIn , class TOut >

void sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::init ( void  )

override

SOFA_CLASS()

template<class TIn , class TOut >

sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >::SOFA_CLASS	(	SOFA_TEMPLATE2(CenterOfMassMapping< TIn, TOut >, TIn, TOut)	,
		SOFA_TEMPLATE2(LinearMapping, TIn, TOut)
	)