#include <DistanceMultiMapping.h>
Maps point positions from several mstates to distances (in distance unit).
TIn | parent point positions |
TOut | corresponds 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. |
Public Attributes | |
sofa::core::objectmodel::RenamedData< bool > | f_computeDistance |
sofa::core::objectmodel::RenamedData< type::vector< Real > > | f_restLengths |
Data< bool > | d_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< Real > | d_showObjectScale |
Scale for object display. More... | |
Data< sofa::type::RGBAColor > | d_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_STRONGLINK > | l_topology |
Link to be set to the topology container in the component graph. More... | |
Public Attributes inherited from sofa::core::MultiMapping< TIn, TOut > | |
Data< bool > | f_applyRestPosition |
set to true to apply this mapping to restPosition at init More... | |
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 object belongs to More... | |
Data< sofa::type::BoundingBox > | f_bbox |
this object bounding box More... | |
Data< sofa::core::objectmodel::ComponentState > | d_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::OptionsGroup > | d_geometricStiffness |
Method used to compute the geometric stiffness. 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::BaseMatrix * | getK () 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 VecFromModels & | getFromModels () |
Return the reference to fromModels. 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 |
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::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 () |
Public Member Functions inherited from sofa::core::objectmodel::BaseObject | |
SOFA_CLASS (BaseObject, Base) | |
virtual void | computeBBox (const core::ExecParams *, bool=false) |
void | setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr) |
Sets a source Object and parses it to collect dependent Data. More... | |
void | setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr) |
Base * | findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override |
virtual std::string | getPathName () const override |
Return the full path name of this object. More... | |
SReal | getTime () const |
Current time. More... | |
const BaseContext * | getContext () const |
BaseContext * | getContext () |
const BaseObject * | getMaster () const |
BaseObject * | getMaster () |
const VecSlaves & | getSlaves () const |
BaseObject * | getSlave (const std::string &name) const |
virtual void | addSlave (BaseObject::SPtr s) |
virtual void | removeSlave (BaseObject::SPtr s) |
virtual void | handleEvent (Event *) |
Handle an event. More... | |
virtual void | handleTopologyChange () |
virtual void | handleTopologyChange (core::topology::Topology *t) |
void | parse (BaseObjectDescription *arg) override |
Parse the given description to assign values to this object's fields and potentially other parameters. More... | |
virtual void | bwdInit () |
Initialization method called at graph creation and modification, during bottom-up traversal. More... | |
virtual void | reinit () |
Update method called when variables used in precomputation are modified. More... | |
void | updateInternal () |
Update method called when variables (used to compute other internal variables) are modified. More... | |
virtual void | storeResetState () |
Save the initial state for later uses in reset() More... | |
virtual void | reset () |
Reset to initial state. More... | |
virtual void | cleanup () |
Public Member Functions inherited from sofa::core::objectmodel::Base | |
virtual const BaseClass * | getClass () const |
void | addDeprecatedAttribute (lifecycle::DeprecatedData *attribute) |
void | addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs) |
void | addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs) |
const std::string & | getName () const |
Accessor to the object name. More... | |
void | setName (const std::string &n) |
Set the name of this object. More... | |
void | setName (const std::string &n, int counter) |
Set the name of this object, adding an integer counter. More... | |
std::string | getTypeName () const |
Get the type name of this object (i.e. class and template types) More... | |
virtual std::string | getClassName () const |
Get the class name of this object. More... | |
virtual std::string | getTemplateName () const final |
Get the template type names (if any) used to instantiate this object. More... | |
std::string | getNameSpaceName () const |
Get the template type names (if any) used to instantiate this object. More... | |
void | setDefinitionSourceFileName (const std::string &sourceFileName) |
Set the source filename (where the component is implemented) More... | |
const std::string & | getDefinitionSourceFileName () const |
Get the source filename (where the component is implemented) More... | |
void | setDefinitionSourceFilePos (const int) |
Set the source location (where the component is implemented) More... | |
int | getDefinitionSourceFilePos () const |
Get the source location (where the component is implemented) More... | |
void | setInstanciationSourceFileName (const std::string &sourceFileName) |
const std::string & | getInstanciationSourceFileName () const |
void | setInstanciationSourceFilePos (const int) |
int | getInstanciationSourceFilePos () const |
void | addMessage (const sofa::helper::logging::Message &m) const |
size_t | countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
const std::deque< sofa::helper::logging::Message > & | getLoggedMessages () const |
const std::string | getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
void | clearLoggedMessages () const |
bool | notMuted () const |
const sofa::core::objectmodel::TagSet & | getTags () const |
Represents the subsets the object belongs to. More... | |
bool | hasTag (Tag t) const |
Return true if the object belong to the given subset. More... | |
void | addTag (Tag t) |
Add a subset qualification to the object. More... | |
void | removeTag (Tag t) |
Remove a subset qualification to the object. More... | |
ComponentState | getComponentState () const |
bool | isComponentStateValid () const |
virtual bool | parseField (const std::string &attribute, const std::string &value) |
Assign one field value (Data or Link) More... | |
virtual bool | hasField (const std::string &attribute) const |
Check if a given Data field or Link exists. More... | |
void | parseFields (const std::list< std::string > &str) |
Assign the field values stored in the given list of name + value pairs of strings. More... | |
virtual void | parseFields (const std::map< std::string, std::string * > &str) |
Assign the field values stored in the given map of name -> value pairs. More... | |
void | writeDatas (std::map< std::string, std::string * > &str) |
Write the current field values to the given map of name -> value pairs. More... | |
void | writeDatas (std::ostream &out, const std::string &separator=" ") |
BaseData * | findData (const std::string &name) const |
std::vector< BaseData * > | findGlobalField (const std::string &name) const |
Find data fields given a name: several can be found as we look into the alias map. More... | |
BaseLink * | findLink (const std::string &name) const |
std::vector< BaseLink * > | findLinks (const std::string &name) const |
Find link fields given a name: several can be found as we look into the alias map. More... | |
virtual void | updateLinks (bool logErrors=true) |
Update pointers in case the pointed-to objects have appeared. More... | |
template<class T > | |
BaseData::BaseInitData | initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags) |
Helper method used to initialize a data field containing a value of type T. More... | |
template<class T > | |
BaseData::BaseInitData | initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
Helper method used to initialize a data field containing a value of type T. More... | |
template<class T > | |
Data< T >::InitData | initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
Helper method used to initialize a data field containing a value of type T. More... | |
void | addData (BaseData *f, const std::string &name) |
void | addData (BaseData *f) |
void | removeData (BaseData *f) |
Remove a data field. More... | |
void | addAlias (BaseData *field, const char *alias) |
Add an alias to a Data. More... | |
void | addLink (BaseLink *l) |
Add a link. More... | |
void | addAlias (BaseLink *link, const char *alias) |
Add an alias to a Link. More... | |
const VecData & | getDataFields () const |
Accessor to the vector containing all the fields of this object. More... | |
const MapData & | getDataAliases () const |
Accessor to the map containing all the aliases of this object. More... | |
const VecLink & | getLinks () const |
Accessor to the vector containing all the fields of this object. More... | |
const MapLink & | getLinkAliases () const |
Accessor to the map containing all the aliases of this object. More... | |
virtual bool | findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link) |
template<class T > | |
bool | findLinkDest (T *&ptr, const std::string &path, const BaseLink *link) |
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 BaseClass * | GetClass () |
template<class T > | |
static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
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protected |
Jacobian of the mapping, in a vector.
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])
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
Data<type::vector<type::Vec2i> > sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::d_indexPairs |
list of couples (parent index + index in the parent)
Data<type::vector<Real> > sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::d_restLengths |
Rest lengths of the connections.
Data<Real> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::d_showObjectScale |
Scale for object display.
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protected |
Unit vectors in the directions of the lines.
sofa::core::objectmodel::RenamedData<bool> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::f_computeDistance |
sofa::core::objectmodel::RenamedData<type::vector<Real> > sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::f_restLengths |
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protected |
inverse of current distances. Null represents the infinity (null distance)
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protected |
SingleLink<DistanceMultiMapping<TIn, TOut>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::l_topology |
Link to be set to the topology container in the component graph.
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protected |
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overrideprotected |
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::addPoint | ( | const core::BaseState * | fromModel, |
int | index | ||
) |
void sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::addPoint | ( | int | fromModel, |
int | index | ||
) |
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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 >.
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.
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override |
Apply /// Apply the mapping to position vectors.
If the Mapping can be represented as a matrix , this method computes
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virtual |
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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.
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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 >.
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.
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override |
ApplyJ /// Apply the mapping to derived (velocity, displacement) vectors. where is the tangent operator (the linear approximation) of the mapping
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virtual |
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inline |
This method must be reimplemented by all mappings if they need to support constraints.
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inlineoverride |
ApplyJT (Constraint)///.
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inlineoverridevirtual |
This method must be reimplemented by all mappings if they need to support constraints.
Reimplemented from sofa::core::MultiMapping< TIn, TOut >.
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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 >.
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.
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ApplyJT (Force)/// Apply the reverse mapping to force vectors. where is the tangent operator (the linear approximation) of the mapping
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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.
matrices | The matrix to fill in with the geometric stiffness of the mapping |
Reimplemented from sofa::core::BaseMapping.
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r=b-a only for position (eventual rotation, affine transform... remains null)
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Render internal data of this object, for debugging purposes.
Reimplemented from sofa::core::objectmodel::BaseObject.
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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.
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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.
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Initialization method called at graph creation and modification, during top-down traversal.
Reimplemented from sofa::core::objectmodel::BaseObject.
sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >::SOFA_CLASS | ( | SOFA_TEMPLATE2(DistanceMultiMapping< TIn, TOut >, TIn, TOut) | , |
SOFA_TEMPLATE2(core::MultiMapping, TIn, TOut) | |||
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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.