#include <DeformableOnRigidFrameMapping.h>

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

Public Attributes
OutVecCoord	rotatedPoints

DeformableOnRigidFrameMappingInternalData< In, Out >	data

Data< unsigned int >	index
	input DOF index More...

Data< bool >	indexFromEnd
	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< bool >	globalToLocalCoords
	are the output DOFs initially expressed in global coordinates More...

Data< Real >	m_rootAngularForceScaleFactor
	Scale factor applied on the angular force accumulated on the rigid model. More...

Data< Real >	m_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< 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}

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_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_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 VecFromModels1 &	getFromModels1 ()
	Return the reference to fromModels (In1). More...

const VecFromModels2 &	getFromModels2 ()
	Return the reference to fromModels (In2). More...

const VecToModels &	getToModels ()
	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::BaseMatrix *	getJ (const MechanicalParams *)

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

virtual sofa::linearalgebra::BaseMatrix *	createMappedMatrix (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::BaseMatrix *	getK ()

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)

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 ()

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
	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 BaseClass *	GetClass ()

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 ( void )

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
N

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ data

◆ globalToLocalCoords

◆ index

◆ indexFromEnd

◆ m_fromModel

◆ m_fromRootModel

◆ m_rootAngularForceScaleFactor

◆ m_rootLinearForceScaleFactor

◆ m_toModel

◆ repartition

◆ rootX

◆ rotatedPoints

Constructor details

◆ DeformableOnRigidFrameMapping()

◆ ~DeformableOnRigidFrameMapping()

Function details

◆ addPoint() [1/2]

◆ addPoint() [2/2]

◆ apply() [1/2]

◆ apply() [2/2]

◆ applyDJT()

◆ applyJ() [1/2]

◆ applyJ() [2/2]

◆ applyJT() [1/4]

◆ applyJT() [2/4]

◆ applyJT() [3/4]

◆ applyJT() [4/4]

◆ clear()

◆ draw()

◆ handleTopologyChange()

◆ init()

◆ recomputeRigidMass()

◆ sameTopology()

◆ setRepartition() [1/2]

◆ setRepartition() [2/2]

◆ SOFA_CLASS()

Enum details

◆ anonymous enum