SOFA API  8225a6f5
Open source framework for multi-physics simuation
sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut > Class Template Reference

#include <DeformableOnRigidFrameMapping.h>

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

Public Attributes

OutVecCoord rotatedPoints
 
DeformableOnRigidFrameMappingInternalData< In, Outdata
 
Data< unsigned intindex
 input DOF index More...
 
Data< boolindexFromEnd
 input DOF index starts from the end of input DOFs vector More...
 
Data< sofa::type::vector< unsigned int > > repartition
 number of dest dofs per entry dof More...
 
Data< boolglobalToLocalCoords
 are the output DOFs initially expressed in global coordinates More...
 
Data< Realm_rootAngularForceScaleFactor
 Scale factor applied on the angular force accumulated on the rigid model. More...
 
Data< Realm_rootLinearForceScaleFactor
 Scale factor applied on the linear force accumulated on the rigid model. More...
 
- Public Attributes inherited from sofa::core::Multi2Mapping< TIn, TInRoot, 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::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate {}
 
DeprecatedAndRemoved d_componentstate {}
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

core::State< In > * m_fromModel
 
core::State< Out > * m_toModel
 
core::State< InRoot > * m_fromRootModel
 
InRootCoord rootX
 
- Protected Attributes inherited from sofa::core::Multi2Mapping< TIn, TInRoot, TOut >
LinkFromModels1 fromModels1
 Input Models container. New inputs are added through addInputModel(In* ). More...
 
LinkFromModels2 fromModels2
 
LinkToModels toModels
 
- 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_TEMPLATE3(DeformableOnRigidFrameMapping, TIn, TInRoot, TOut), SOFA_TEMPLATE3(core::Multi2Mapping, TIn, TInRoot, TOut))
 
int addPoint (const OutCoord &c)
 
int addPoint (const OutCoord &c, int indexFrom)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void handleTopologyChange (core::topology::Topology *t) override
 
bool sameTopology () const override
 
void apply (OutVecCoord &out, const InVecCoord &in, const InRootVecCoord *inroot)
 
void apply (const core::MechanicalParams *, const type::vector< OutDataVecCoord * > &dataVecOutPos, const type::vector< const InDataVecCoord * > &dataVecInPos, const type::vector< const InRootDataVecCoord * > &dataVecInRootPos) override
 
void applyJ (OutVecDeriv &out, const InVecDeriv &in, const InRootVecDeriv *inroot)
 
void applyJ (const core::MechanicalParams *, const type::vector< OutDataVecDeriv * > &dataVecOutVel, const type::vector< const InDataVecDeriv * > &dataVecInVel, const type::vector< const InRootDataVecDeriv * > &dataVecInRootVel) override
 
void applyJT (InVecDeriv &out, const OutVecDeriv &in, InRootVecDeriv *outroot)
 
void applyJT (const core::MechanicalParams *, const type::vector< InDataVecDeriv * > &dataVecOutForce, const type::vector< InRootDataVecDeriv * > &dataVecOutRootForce, const type::vector< const OutDataVecDeriv * > &dataVecInForce) override
 
void applyDJT (const core::MechanicalParams *mparams, 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...
 
void applyJT (InMatrixDeriv &out, const OutMatrixDeriv &in, InRootMatrixDeriv *outroot)
 
void applyJT (const core::ConstraintParams *, const type::vector< InDataMatrixDeriv * > &dataMatOutConst, const type::vector< InRootDataMatrixDeriv * > &dataMatOutRootConst, const type::vector< const OutDataMatrixDeriv * > &dataMatInConst) override
 
void recomputeRigidMass ()
 MAP the mass: this function recompute the rigid mass (gravity center position and inertia) of the object based on its deformed shape. More...
 
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::type::vector< unsigned int > values)
 
- Public Member Functions inherited from sofa::core::Multi2Mapping< TIn, TInRoot, TOut >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE3(Multi2Mapping, TIn, TInRoot, TOut), BaseMapping)
 
virtual void addInputModel1 (State< In1 > *, const std::string &path="")
 
virtual void addInputModel2 (State< In2 > *, const std::string &path="")
 
virtual void addOutputModel (State< Out > *, const std::string &path="")
 
const VecFromModels1getFromModels1 ()
 Return the reference to fromModels (In1). More...
 
const VecFromModels2getFromModels2 ()
 Return the reference to fromModels (In2). More...
 
const VecToModelsgetToModels ()
 Return reference to toModels. More...
 
type::vector< BaseState * > getFrom () override
 Return a container of input models statically casted as BaseObject*. More...
 
type::vector< BaseState * > getTo () override
 Return container of output model statically casted as BaseObject*. 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...
 
void apply (const MechanicalParams *mparams, MultiVecCoordId outPos, ConstMultiVecCoordId inPos) override
 
virtual void apply (const MechanicalParams *mparams, const type::vector< OutDataVecCoord * > &dataVecOutPos, const type::vector< const In1DataVecCoord * > &dataVecIn1Pos, const type::vector< const In2DataVecCoord * > &dataVecIn2Pos)=0
 
void applyJ (const MechanicalParams *mparams, MultiVecDerivId outVel, ConstMultiVecDerivId inVel) override
 
virtual void applyJ (const MechanicalParams *, const type::vector< OutDataVecDeriv * > &dataVecOutVel, const type::vector< const In1DataVecDeriv * > &dataVecIn1Vel, const type::vector< const In2DataVecDeriv * > &dataVecIn2Vel)
 
virtual void applyJ (const type::vector< OutVecDeriv * > &, const type::vector< const In1VecDeriv * > &, const type::vector< const In2VecDeriv * > &)
 
void applyJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce) override
 
virtual void applyJT (const MechanicalParams *mparams, const type::vector< In1DataVecDeriv * > &dataVecOut1Force, const type::vector< In2DataVecDeriv * > &dataVecOut2Force, const type::vector< const OutDataVecDeriv * > &dataVecInForce)=0
 
void applyJT (const ConstraintParams *cparams, MultiMatrixDerivId inConst, ConstMultiMatrixDerivId outConst) override
 ApplyJT (Constraint)///. More...
 
virtual void applyJT (const ConstraintParams *, const type::vector< In1DataMatrixDeriv * > &, const type::vector< In2DataMatrixDeriv * > &, const type::vector< 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
 computeAccFromMapping More...
 
virtual void computeAccFromMapping (const MechanicalParams *, const type::vector< OutDataVecDeriv * > &, const type::vector< const In1DataVecDeriv * > &, const type::vector< const In2DataVecDeriv * > &, const type::vector< const In1DataVecDeriv * > &, const type::vector< const In2DataVecDeriv * > &)
 This method must be reimplemented by all mappings if they need to support composite accelerations. More...
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void disable () override
 
- 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 const sofa::linearalgebra::BaseMatrixgetJ (const MechanicalParams *)
 
virtual const sofa::linearalgebra::BaseMatrixgetJ ()
 
virtual sofa::linearalgebra::BaseMatrixcreateMappedMatrix (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 ()
 
virtual const type::vector< sofa::linearalgebra::BaseMatrix * > * getJs ()
 
virtual void updateK (const MechanicalParams *, ConstMultiVecDerivId)
 
virtual const linearalgebra::BaseMatrixgetK ()
 
- 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 ()
 
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 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...
 
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...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
virtual 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 processStream (std::ostream &out)
 
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
 
bool IsInheritingFromBase ()
 
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 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

 DeformableOnRigidFrameMapping ()
 
virtual ~DeformableOnRigidFrameMapping ()
 
- Protected Member Functions inherited from sofa::core::Multi2Mapping< TIn, TInRoot, TOut >
 Multi2Mapping ()
 Constructor. More...
 
 ~Multi2Mapping () override
 Destructor. More...
 
void getVecIn1Coord (const MultiVecCoordId id, type::vector< In1DataVecCoord * > &v) const
 
void getConstVecIn1Coord (const ConstMultiVecCoordId id, type::vector< const In1DataVecCoord * > &v) const
 
void getVecIn1Deriv (const MultiVecDerivId id, type::vector< In1DataVecDeriv * > &v) const
 
void getConstVecIn1Deriv (const ConstMultiVecDerivId id, type::vector< const In1DataVecDeriv * > &v) const
 
void getMatIn1Deriv (const MultiMatrixDerivId id, type::vector< In1DataMatrixDeriv * > &v) const
 
void getConstMatIn1Deriv (const ConstMultiMatrixDerivId id, type::vector< const In1DataMatrixDeriv * > &v) const
 
void getVecIn2Coord (const MultiVecCoordId id, type::vector< In2DataVecCoord * > &v) const
 
void getConstVecIn2Coord (const ConstMultiVecCoordId id, type::vector< const In2DataVecCoord * > &v) const
 
void getVecIn2Deriv (const MultiVecDerivId id, type::vector< In2DataVecDeriv * > &v) const
 
void getConstVecIn2Deriv (const ConstMultiVecDerivId id, type::vector< const In2DataVecDeriv * > &v) const
 
void getMatIn2Deriv (const MultiMatrixDerivId id, type::vector< In2DataMatrixDeriv * > &v) const
 
void getConstMatIn2Deriv (const ConstMultiMatrixDerivId id, type::vector< const In2DataMatrixDeriv * > &v) const
 
void getVecOutCoord (const MultiVecCoordId id, type::vector< OutDataVecCoord * > &v) const
 
void getConstVecOutCoord (const ConstMultiVecCoordId id, type::vector< const OutDataVecCoord * > &v) const
 
void getVecOutDeriv (const MultiVecDerivId id, type::vector< OutDataVecDeriv * > &v) const
 
void getConstVecOutDeriv (const ConstMultiVecDerivId id, type::vector< const OutDataVecDeriv * > &v) const
 
void getMatOutDeriv (const MultiMatrixDerivId id, type::vector< OutDataMatrixDeriv * > &v) const
 
void getConstMatOutDeriv (const ConstMultiMatrixDerivId id, type::vector< const OutDataMatrixDeriv * > &v) const
 
- 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::Multi2Mapping< TIn, TInRoot, TOut >
static bool canCreate (T *&obj, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 
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 BaseClassGetClass ()
 
template<class T >
static std::string typeName (const T *ptr=nullptr)=delete
 
template<class T >
static std::string className (const T *ptr=nullptr)=delete
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)=delete
 
template<class T >
static std::string templateName (const T *ptr=nullptr)=delete
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ data

template<class TIn , class TInRoot , class TOut >
DeformableOnRigidFrameMappingInternalData<In, Out> sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::data

◆ globalToLocalCoords

template<class TIn , class TInRoot , class TOut >
Data< bool > sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::globalToLocalCoords

are the output DOFs initially expressed in global coordinates

◆ index

template<class TIn , class TInRoot , class TOut >
Data<unsigned int> sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::index

input DOF index

◆ indexFromEnd

template<class TIn , class TInRoot , class TOut >
Data< bool > sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::indexFromEnd

input DOF index starts from the end of input DOFs vector

◆ m_fromModel

template<class TIn , class TInRoot , class TOut >
core::State<In>* sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::m_fromModel
protected

◆ m_fromRootModel

template<class TIn , class TInRoot , class TOut >
core::State<InRoot>* sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::m_fromRootModel
protected

◆ m_rootAngularForceScaleFactor

template<class TIn , class TInRoot , class TOut >
Data< Real > sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::m_rootAngularForceScaleFactor

Scale factor applied on the angular force accumulated on the rigid model.

◆ m_rootLinearForceScaleFactor

template<class TIn , class TInRoot , class TOut >
Data< Real > sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::m_rootLinearForceScaleFactor

Scale factor applied on the linear force accumulated on the rigid model.

◆ m_toModel

template<class TIn , class TInRoot , class TOut >
core::State<Out>* sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::m_toModel
protected

◆ repartition

template<class TIn , class TInRoot , class TOut >
Data<sofa::type::vector<unsigned int> > sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::repartition

number of dest dofs per entry dof

◆ rootX

template<class TIn , class TInRoot , class TOut >
InRootCoord sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::rootX
protected

◆ rotatedPoints

template<class TIn , class TInRoot , class TOut >
OutVecCoord sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::rotatedPoints

Constructor details

◆ DeformableOnRigidFrameMapping()

template<class TIn , class TInRoot , class TOut >
sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::DeformableOnRigidFrameMapping
protected

◆ ~DeformableOnRigidFrameMapping()

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

Function details

◆ addPoint() [1/2]

template<class TIn , class TInRoot , class TOut >
int sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::addPoint ( const OutCoord c)

◆ addPoint() [2/2]

template<class TIn , class TInRoot , class TOut >
int sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::addPoint ( const OutCoord c,
int  indexFrom 
)

◆ apply() [1/2]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::apply ( const core::MechanicalParams ,
const type::vector< OutDataVecCoord * > &  dataVecOutPos,
const type::vector< const InDataVecCoord * > &  dataVecInPos,
const type::vector< const InRootDataVecCoord * > &  dataVecInRootPos 
)
override

◆ apply() [2/2]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::apply ( OutVecCoord out,
const InVecCoord in,
const InRootVecCoord inroot 
)

◆ applyDJT()

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::applyDJT ( const core::MechanicalParams mparams,
core::MultiVecDerivId  inForce,
core::ConstMultiVecDerivId  outForce 
)
overridevirtual

Accumulate a change of parent force due to the change of the mapping, for a constant child force. Null for linear mappings.

Implements sofa::core::BaseMapping.

◆ applyJ() [1/2]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::applyJ ( const core::MechanicalParams ,
const type::vector< OutDataVecDeriv * > &  dataVecOutVel,
const type::vector< const InDataVecDeriv * > &  dataVecInVel,
const type::vector< const InRootDataVecDeriv * > &  dataVecInRootVel 
)
override

◆ applyJ() [2/2]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::applyJ ( OutVecDeriv out,
const InVecDeriv in,
const InRootVecDeriv inroot 
)

◆ applyJT() [1/4]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::applyJT ( const core::ConstraintParams ,
const type::vector< InDataMatrixDeriv * > &  dataMatOutConst,
const type::vector< InRootDataMatrixDeriv * > &  dataMatOutRootConst,
const type::vector< const OutDataMatrixDeriv * > &  dataMatInConst 
)
override

◆ applyJT() [2/4]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::applyJT ( const core::MechanicalParams ,
const type::vector< InDataVecDeriv * > &  dataVecOutForce,
const type::vector< InRootDataVecDeriv * > &  dataVecOutRootForce,
const type::vector< const OutDataVecDeriv * > &  dataVecInForce 
)
override

◆ applyJT() [3/4]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::applyJT ( InMatrixDeriv out,
const OutMatrixDeriv in,
InRootMatrixDeriv outroot 
)

◆ applyJT() [4/4]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::applyJT ( InVecDeriv out,
const OutVecDeriv in,
InRootVecDeriv outroot 
)

◆ clear()

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::clear ( int  reserve = 0)

◆ draw()

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

Render internal data of this object, for debugging purposes.

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

◆ handleTopologyChange()

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::handleTopologyChange ( core::topology::Topology t)
overridevirtual

Handle topological Changes from a given Topology

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

◆ init()

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::init
overridevirtual

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

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

◆ recomputeRigidMass()

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::recomputeRigidMass

MAP the mass: this function recompute the rigid mass (gravity center position and inertia) of the object based on its deformed shape.

◆ sameTopology()

template<class TIn , class TInRoot , class TOut >
bool sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::sameTopology ( ) const
inlineoverridevirtual

Return true if the destination model has the same topology as the source model.

This is the case for mapping keeping a one-to-one correspondance between input and output DOFs (mostly identity or data-conversion mappings).

Reimplemented from sofa::core::BaseMapping.

◆ setRepartition() [1/2]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::setRepartition ( sofa::type::vector< unsigned int values)

◆ setRepartition() [2/2]

template<class TIn , class TInRoot , class TOut >
void sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::setRepartition ( unsigned int  value)

◆ SOFA_CLASS()

template<class TIn , class TInRoot , class TOut >
sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >::SOFA_CLASS ( SOFA_TEMPLATE3(DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >, TIn, TInRoot, TOut)  ,
SOFA_TEMPLATE3(core::Multi2Mapping, TIn, TInRoot, TOut)   
)

Enum details

◆ anonymous enum

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