SOFA API  ea7f52a9
Open source framework for multi-physics simuation
sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut > Class Template Reference

#include <DistanceMultiMapping.h>

Inheritance diagram for sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >:

Detailed Description

template<class TIn, class TOut>
class sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >

Maps point positions from several mstates to distances (in distance unit).

Template Parameters
TInparent point positions
TOutcorresponds to a scalar value: distance between point pairs, minus a rest distance. The pairs are given in a topology with edges in the same node. The points index are given as pair(mstate_index,dof_index) in the Data indexPairs. If the rest lengths are not defined, they are set using the initial values. If computeDistance is set to true, the rest lengths are set to 0.
Author
Matthieu Nesme

Public Attributes

sofa::core::objectmodel::RenamedData< boolf_computeDistance
 
sofa::core::objectmodel::RenamedData< type::vector< Real > > f_restLengths
 
Data< boold_computeDistance
 if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them More...
 
Data< type::vector< Real > > d_restLengths
 Rest lengths of the connections. More...
 
Data< Reald_showObjectScale
 Scale for object display. More...
 
Data< sofa::type::RGBAColord_color
 Color for object display. (default=[1.0,1.0,0.0,1.0]) More...
 
Data< type::vector< type::Vec2i > > d_indexPairs
 list of couples (parent index + index in the parent) More...
 
SingleLink< DistanceMultiMapping< TIn, TOut >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKl_topology
 Link to be set to the topology container in the component graph. More...
 
- Public Attributes inherited from sofa::core::MultiMapping< TIn, TOut >
Data< boolf_applyRestPosition
 set to true to apply this mapping to restPosition at init More...
 
- 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 object belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- Public Attributes inherited from sofa::component::mapping::nonlinear::NonLinearMappingData< true >
Data< helper::OptionsGroupd_geometricStiffness
 Method used to compute the geometric stiffness. More...
 

Protected Attributes

type::vector< linearalgebra::BaseMatrix * > baseMatrices
 Jacobian of the mapping, in a vector. More...
 
type::vector< Directiondirections
 Unit vectors in the directions of the lines. More...
 
type::vector< Realinvlengths
 inverse of current distances. Null represents the infinity (null distance) More...
 
SparseKMatrixEigen K
 
- Protected Attributes inherited from sofa::core::MultiMapping< TIn, TOut >
LinkFromModels fromModels
 
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_TEMPLATE2(DistanceMultiMapping, TIn, TOut), SOFA_TEMPLATE2(core::MultiMapping, TIn, TOut))
 
void addPoint (const core::BaseState *fromModel, int index)
 
void addPoint (int fromModel, int index)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void apply (const core::MechanicalParams *mparams, const type::vector< OutDataVecCoord * > &dataVecOutPos, const type::vector< const InDataVecCoord * > &dataVecInPos) override
 
void applyJ (const core::MechanicalParams *mparams, const type::vector< OutDataVecDeriv * > &dataVecOutVel, const type::vector< const InDataVecDeriv * > &dataVecInVel) override
 
void applyJT (const core::MechanicalParams *mparams, const type::vector< InDataVecDeriv * > &dataVecOutForce, const type::vector< const OutDataVecDeriv * > &dataVecInForce) override
 
virtual void apply (const type::vector< OutVecCoord * > &outPos, const vecConstInVecCoord &inPos)
 
virtual void applyJ (const type::vector< OutVecDeriv * > &outDeriv, const type::vector< const InVecDeriv * > &inDeriv)
 
virtual void applyJT (const type::vector< InVecDeriv * > &outDeriv, const type::vector< const OutVecDeriv * > &inDeriv)
 
void applyJT (const core::ConstraintParams *, const type::vector< InDataMatrixDeriv * > &, const type::vector< const OutDataMatrixDeriv * > &) override
 This method must be reimplemented by all mappings if they need to support constraints. More...
 
void applyDJT (const core::MechanicalParams *, 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...
 
virtual const type::vector< sofa::linearalgebra::BaseMatrix * > * getJs () override
 
void updateK (const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForce) override
 
const linearalgebra::BaseMatrixgetK () override
 
void buildGeometricStiffnessMatrix (sofa::core::GeometricStiffnessMatrix *matrices) override
 Assembles the geometric stiffness matrix of the mapping in the provided matrix object. More...
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. 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 InDataVecCoord * > &dataVecInPos)=0
 
void applyJ (const MechanicalParams *mparams, MultiVecDerivId outVel, ConstMultiVecDerivId inVel) override
 
virtual void applyJ (const MechanicalParams *mparams, const type::vector< OutDataVecDeriv * > &dataVecOutVel, const type::vector< const InDataVecDeriv * > &dataVecInVel)=0
 
void applyJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce) override
 
virtual void applyJT (const MechanicalParams *mparams, const type::vector< InDataVecDeriv * > &dataVecOutForce, 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< InDataMatrixDeriv * > &, const type::vector< const OutDataMatrixDeriv * > &)
 This method must be reimplemented by all mappings if they need to support constraints. More...
 
- Public Member Functions inherited from sofa::core::MultiMapping< TIn, TOut >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(MultiMapping, TIn, TOut), BaseMapping)
 
void addInputModel (BaseState *model, const std::string &path="")
 
void addOutputModel (BaseState *model, const std::string &path="")
 
const VecFromModelsgetFromModels ()
 Return the reference to fromModels. 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
 
void applyJ (const MechanicalParams *mparams, MultiVecDerivId outVel, ConstMultiVecDerivId inVel) override
 
void applyJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce) 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
 computeAccFromMapping More...
 
virtual void computeAccFromMapping (const MechanicalParams *, const type::vector< OutDataVecDeriv * > &, const type::vector< const InDataVecDeriv * > &, const type::vector< const InDataVecDeriv * > &)
 This method must be reimplemented by all mappings if they need to support composite accelerations. More...
 
void init () override
 
void disable () override
 
- Public Member Functions inherited from sofa::core::BaseMapping
 SOFA_ABSTRACT_CLASS (BaseMapping, objectmodel::BaseObject)
 
virtual bool isLinear () const
 
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 bool sameTopology () const
 
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 ()
 
- 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)
 
- Public Member Functions inherited from sofa::component::mapping::nonlinear::NonLinearMappingData< true >
 NonLinearMappingData ()
 
 NonLinearMappingData ()
 

Protected Member Functions

 DistanceMultiMapping ()
 
 ~DistanceMultiMapping () override
 
void computeCoordPositionDifference (Direction &r, const InCoord &a, const InCoord &b)
 r=b-a only for position (eventual rotation, affine transform... remains null) More...
 
- Protected Member Functions inherited from sofa::core::MultiMapping< TIn, TOut >
 MultiMapping ()
 Constructor. More...
 
 ~MultiMapping () override
 Destructor. More...
 
void getVecInCoord (const MultiVecCoordId id, type::vector< InDataVecCoord * > &v) const
 
void getConstVecInCoord (const ConstMultiVecCoordId id, type::vector< const InDataVecCoord * > &v) const
 
void getVecInDeriv (const MultiVecDerivId id, type::vector< InDataVecDeriv * > &v) const
 
void getConstVecInDeriv (const ConstMultiVecDerivId id, type::vector< const InDataVecDeriv * > &v) const
 
void getMatInDeriv (const MultiMatrixDerivId id, type::vector< InDataMatrixDeriv * > &v) const
 
void getConstMatInDeriv (const ConstMultiMatrixDerivId id, type::vector< const InDataMatrixDeriv * > &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...
 
- Protected Member Functions inherited from sofa::component::mapping::nonlinear::NonLinearMappingData< true >
void checkLinearSolverSymmetry (const core::MechanicalParams *mparams) const
 

Additional Inherited Members

- Static Public Member Functions inherited from sofa::core::MultiMapping< TIn, TOut >
template<class T >
static std::string shortName (const T *ptr=nullptr, objectmodel::BaseObjectDescription *arg=nullptr)
 
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)
 
- 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

◆ baseMatrices

template<class TIn , class TOut >
type::vector<linearalgebra::BaseMatrix*> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::baseMatrices
protected

Jacobian of the mapping, in a vector.

◆ d_color

template<class TIn , class TOut >
Data<sofa::type::RGBAColor> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::d_color

Color for object display. (default=[1.0,1.0,0.0,1.0])

◆ d_computeDistance

template<class TIn , class TOut >
Data<bool> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::d_computeDistance

if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them

◆ d_indexPairs

template<class TIn , class TOut >
Data<type::vector<type::Vec2i> > sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::d_indexPairs

list of couples (parent index + index in the parent)

◆ d_restLengths

template<class TIn , class TOut >
Data<type::vector<Real> > sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::d_restLengths

Rest lengths of the connections.

◆ d_showObjectScale

template<class TIn , class TOut >
Data<Real> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::d_showObjectScale

Scale for object display.

◆ directions

template<class TIn , class TOut >
type::vector<Direction> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::directions
protected

Unit vectors in the directions of the lines.

◆ f_computeDistance

template<class TIn , class TOut >
sofa::core::objectmodel::RenamedData<bool> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::f_computeDistance

◆ f_restLengths

◆ invlengths

template<class TIn , class TOut >
type::vector< Real > sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::invlengths
protected

inverse of current distances. Null represents the infinity (null distance)

◆ K

template<class TIn , class TOut >
SparseKMatrixEigen sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::K
protected

◆ l_topology

Link to be set to the topology container in the component graph.

Constructor details

◆ DistanceMultiMapping()

template<class TIn , class TOut >
sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::DistanceMultiMapping
protected

◆ ~DistanceMultiMapping()

template<class TIn , class TOut >
sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::~DistanceMultiMapping
overrideprotected

Function details

◆ addPoint() [1/2]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::addPoint ( const core::BaseState fromModel,
int  index 
)

◆ addPoint() [2/2]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::addPoint ( int  fromModel,
int  index 
)

◆ apply() [1/4]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::apply ( const core::MechanicalParams mparams,
const type::vector< OutDataVecCoord * > &  dataVecOutPos,
const type::vector< const InDataVecCoord * > &  dataVecInPos 
)
inlineoverridevirtual

This method must be reimplemented by all mappings. InPos and OutPos by default contains VecIds of type V_COORD. The size of InPos vector is the same as the number of fromModels. The size of OutPos vector is the same as the number of OutModels.

Implements sofa::core::MultiMapping< TIn, TOut >.

◆ apply() [2/4]

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::apply

This method must be reimplemented by all mappings. InPos and OutPos by default contains VecIds of type V_COORD. The size of InPos vector is the same as the number of fromModels. The size of OutPos vector is the same as the number of OutModels.

◆ apply() [3/4]

template<class TIn , class TOut >
void sofa::core::MultiMapping< In, Out >::apply
override

Apply /// Apply the mapping to position vectors.

If the Mapping can be represented as a matrix $ J $, this method computes $ out = J in $

◆ apply() [4/4]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::apply ( const type::vector< OutVecCoord * > &  outPos,
const vecConstInVecCoord inPos 
)
virtual

◆ applyDJT()

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, 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() [1/4]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::applyJ ( const core::MechanicalParams mparams,
const type::vector< OutDataVecDeriv * > &  dataVecOutVel,
const type::vector< const InDataVecDeriv * > &  dataVecInVel 
)
inlineoverridevirtual

This method must be reimplemented by all mappings. InDeriv and OutDeriv by default contains VecIds of type V_DERIV. The size of InDeriv vector is the same as the number of fromModels. The size of OutDeriv vector is the same as the number of OutModels.

Implements sofa::core::MultiMapping< TIn, TOut >.

◆ applyJ() [2/4]

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::applyJ

This method must be reimplemented by all mappings. InDeriv and OutDeriv by default contains VecIds of type V_DERIV. The size of InDeriv vector is the same as the number of fromModels. The size of OutDeriv vector is the same as the number of OutModels.

◆ applyJ() [3/4]

template<class TIn , class TOut >
void sofa::core::MultiMapping< In, Out >::applyJ
override

ApplyJ /// Apply the mapping to derived (velocity, displacement) vectors. $ out = J in $ where $ J $ is the tangent operator (the linear approximation) of the mapping

◆ applyJ() [4/4]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::applyJ ( const type::vector< OutVecDeriv * > &  outDeriv,
const type::vector< const InVecDeriv * > &  inDeriv 
)
virtual

◆ applyJT() [1/7]

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::applyJT
inline

This method must be reimplemented by all mappings if they need to support constraints.

◆ applyJT() [2/7]

template<class TIn , class TOut >
void sofa::core::MultiMapping< TIn, TOut >::applyJT
inlineoverride

ApplyJT (Constraint)///.

◆ applyJT() [3/7]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::applyJT ( const core::ConstraintParams ,
const type::vector< InDataMatrixDeriv * > &  ,
const type::vector< const OutDataMatrixDeriv * > &   
)
inlineoverridevirtual

This method must be reimplemented by all mappings if they need to support constraints.

Reimplemented from sofa::core::MultiMapping< TIn, TOut >.

◆ applyJT() [4/7]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::applyJT ( const core::MechanicalParams mparams,
const type::vector< InDataVecDeriv * > &  dataVecOutForce,
const type::vector< const OutDataVecDeriv * > &  dataVecInForce 
)
inlineoverridevirtual

This method must be reimplemented by all mappings. InDeriv and OutDeriv by default contains VecIds of type V_DERIV. The size of InDeriv vector is the same as the number of fromModels. The size of OutDeriv vector is the same as the number of OutModels.

Implements sofa::core::MultiMapping< TIn, TOut >.

◆ applyJT() [5/7]

template<class TIn , class TOut >
virtual void sofa::core::MultiMapping< TIn, TOut >::applyJT

This method must be reimplemented by all mappings. InDeriv and OutDeriv by default contains VecIds of type V_DERIV. The size of InDeriv vector is the same as the number of fromModels. The size of OutDeriv vector is the same as the number of OutModels.

◆ applyJT() [6/7]

template<class TIn , class TOut >
void sofa::core::MultiMapping< In, Out >::applyJT
override

ApplyJT (Force)/// Apply the reverse mapping to force vectors. $ out += J^t in $ where $ J $ is the tangent operator (the linear approximation) of the mapping

◆ applyJT() [7/7]

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::applyJT ( const type::vector< InVecDeriv * > &  outDeriv,
const type::vector< const OutVecDeriv * > &  inDeriv 
)
virtual

◆ buildGeometricStiffnessMatrix()

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::buildGeometricStiffnessMatrix ( sofa::core::GeometricStiffnessMatrix matrices)
overridevirtual

Assembles the geometric stiffness matrix of the mapping in the provided matrix object.

The geometric stiffness is defined as dJ^T/dx * outForce, where outForce is the forces applying on the output of the mapping, J is the jacobian matrix of the mapping and x is the position of the input of the mapping.

Inside the method, outForce is retrieved, while dJ^T/dx and its product with outForce must be computed.

Note that dJ^T/dx is null for linear mappings, meaning that the method can remain empty.

The geometric stiffness is a term that must be added into the global mechanical matrix.

Parameters
matricesThe matrix to fill in with the geometric stiffness of the mapping

Reimplemented from sofa::core::BaseMapping.

◆ computeCoordPositionDifference()

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::computeCoordPositionDifference ( Direction r,
const InCoord a,
const InCoord b 
)
protected

r=b-a only for position (eventual rotation, affine transform... remains null)

◆ draw()

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

Render internal data of this object, for debugging purposes.

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

◆ getJs()

template<class TIn , class TOut >
const type::vector< sofa::linearalgebra::BaseMatrix * > * sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::getJs
overridevirtual

Returns pointers to Jacobian matrices associated with parent states, consistently with getFrom(). Most mappings have only one parent, however Multimappings have several parents. For efficiency concerns, please return pointers to defaulttype::EigenBaseSparseMatrix

Reimplemented from sofa::core::BaseMapping.

◆ getK()

template<class TIn , class TOut >
const linearalgebra::BaseMatrix * sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::getK
overridevirtual

Returns a pointer to the geometric stiffness matrix. This is the equivalent of applyDJT, for matrix assembly instead of matrix-vector product. This matrix is associated with the parent DOFs. It is a square matrix with a size of the total number of parent DOFs. For efficiency concerns, please return a pointer to a defaulttype::EigenBaseSparseMatrix

Reimplemented from sofa::core::BaseMapping.

◆ init()

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< 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::nonlinear::DistanceMultiMapping< TIn, TOut >::SOFA_CLASS ( SOFA_TEMPLATE2(DistanceMultiMapping< TIn, TOut >, TIn, TOut)  ,
SOFA_TEMPLATE2(core::MultiMapping, TIn, TOut)   
)

◆ updateK()

template<class TIn , class TOut >
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::updateK ( const core::MechanicalParams ,
core::ConstMultiVecDerivId   
)
overridevirtual

Compute the geometric stiffness matrix based on given child forces K = dJ^T * outForce Default implementation does nothing, corresponding to a linear mapping.

Reimplemented from sofa::core::BaseMapping.

Enum details

◆ anonymous enum

template<class TIn , class TOut >
anonymous enum
Enumerator
Nin 
Nout