#include <CenterOfMassMapping.h>

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

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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...

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...

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
std::map< std::string, sofa::core::DataTrackerCallback >	m_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(CenterOfMassMapping, 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 sofa::core::MechanicalParams *mparams, OutDataVecCoord &out, const InDataVecCoord &in) override
	This method must be reimplemented by all mappings. More...

void	applyJ (const sofa::core::MechanicalParams *mparams, OutDataVecDeriv &out, const InDataVecDeriv &in) override
	This method must be reimplemented by all mappings. More...

void	applyJT (const sofa::core::MechanicalParams *mparams, InDataVecDeriv &out, const OutDataVecDeriv &in) override
	This method must be reimplemented by all mappings. More...

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

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

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

void	applyDJT (const MechanicalParams *, MultiVecDerivId, ConstMultiVecDerivId) 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

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::BaseMatrix *	createMappedMatrix (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::BaseMatrix *	getJ (const MechanicalParams *)

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

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::BaseMatrix *	getK ()

virtual void	buildGeometricStiffnessMatrix (sofa::core::GeometricStiffnessMatrix *matrices)

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)

Base *	findLinkDestClass (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 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

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::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 (::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 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
	CenterOfMassMapping ()

virtual	~CenterOfMassMapping ()

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
Public Attributes inherited from sofa::core::Mapping< 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
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

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::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	the object state 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::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 BaseClass *	GetClass ()

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