#include <RigidMapping.h>

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

Classes
class	Loader

Public Attributes
Data< OutVecCoord >	d_points
	Local Coordinates of the points. More...

OutVecCoord	m_rotatedPoints
	vectors from frame origin to mapped points, projected to world coordinates More...

RigidMappingInternalData< In, Out >	m_data

Data< sofa::Index >	d_index
	input DOF index More...

sofa::core::objectmodel::DataFileName	d_fileRigidMapping
	Filename. More...

Data< bool >	d_useX0
	Use x0 instead of local copy of initial positions (to support topo changes) More...

Data< bool >	d_indexFromEnd
	input DOF index starts from the end of input DOFs vector More...

Data< type::vector< unsigned int > >	d_rigidIndexPerPoint
	For each mapped point, the index of the Rigid it is mapped from. More...

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

Public Attributes inherited from sofa::core::Mapping< TIn, TOut >
Data< bool >	f_applyRestPosition

Public Attributes inherited from sofa::core::BaseMapping
Data< bool >	f_mapForces
	Are forces mapped ? More...

Data< bool >	f_mapConstraints
	Are constraints mapped ? More...

Data< bool >	f_mapMasses
	Are masses mapped ? More...

Data< bool >	f_mapMatrices
	Are matrix explicit mapped? More...

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

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

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the 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...

Protected Attributes
std::unique_ptr< MatrixType >	m_matrixJ

bool	m_updateJ

SparseMatrixEigen	m_eigenJacobian
	Jacobian of the mapping used by getJs. More...

type::vector< sofa::linearalgebra::BaseMatrix * >	m_eigenJacobians

StiffnessSparseMatrixEigen	m_geometricStiffnessMatrix

Protected Attributes inherited from sofa::core::Mapping< TIn, TOut >
SingleLink< Mapping< In, Out >, State< In >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	fromModel
	Input Model, also called parent. More...

SingleLink< Mapping< In, Out >, State< Out >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	toModel
	Output Model, also called child. More...

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE2(RigidMapping, TIn, TOut), SOFA_TEMPLATE2(core::Mapping, TIn, TOut))

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use d_points instead") DeprecatedAndRemoved points

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use m_rotatedPoints instead") DeprecatedAndRemoved rotatedPoints

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use m_data instead") DeprecatedAndRemoved data

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use d_index instead") DeprecatedAndRemoved index

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use d_fileRigidMapping instead") DeprecatedAndRemoved fileRigidMapping

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use d_useX0 instead") DeprecatedAndRemoved useX0

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use d_indexFromEnd instead") DeprecatedAndRemoved indexFromEnd

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use d_rigidIndexPerPoint instead") DeprecatedAndRemoved rigidIndexPerPoint

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use d_globalToLocalCoords instead") DeprecatedAndRemoved globalToLocalCoords

sofa::Size	addPoint (const OutCoord &c)

sofa::Size	addPoint (const OutCoord &c, sofa::Index indexFrom)

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

void	reinit () override
	Compute the local coordinates based on the current output coordinates. More...

void	apply (const core::MechanicalParams *mparams, Data< OutVecCoord > &out, const Data< InVecCoord > &in) override

void	applyJ (const core::MechanicalParams *mparams, Data< OutVecDeriv > &out, const Data< InVecDeriv > &in) override

void	applyJT (const core::MechanicalParams *mparams, Data< InVecDeriv > &out, const Data< OutVecDeriv > &in) override

void	applyJT (const core::ConstraintParams *cparams, Data< InMatrixDeriv > &out, const Data< OutMatrixDeriv > &in) override

void	applyDJT (const core::MechanicalParams *mparams, core::MultiVecDerivId parentForce, core::ConstMultiVecDerivId childForce) override
	Accumulate a change of parent force due to the change of the mapping, for a constant child force. Null for linear mappings. More...

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

virtual const type::vector< sofa::linearalgebra::BaseMatrix * > *	getJs () override

void	updateK (const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForceId) 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	clear (sofa::Size reserve=0)

void	setRepartition (sofa::Size value)

void	setRepartition (sofa::type::vector< sofa::Size > values)

void	parse (core::objectmodel::BaseObjectDescription *arg) override
	Parse the given description to assign values to this object's fields and potentially other parameters. More...

void	getGlobalToLocalCoords (OutCoord &result, const InCoord &xfrom, const OutCoord &xto)

void	updateOmega (typename InDeriv::Rot &omega, const OutDeriv &out, const OutCoord &rotatedpoint)

void	getGlobalToLocalCoords (OutCoord &result, const InCoord &xFrom, const OutCoord &xTo)

void	updateOmega (typename InDeriv::Rot &omega, const OutDeriv &out, const OutCoord &rotatedpoint)

void	updateK (const core::MechanicalParams *, core::ConstMultiVecDerivId)

const linearalgebra::BaseMatrix *	getK ()

void	updateK (const core::MechanicalParams *mparams, core::ConstMultiVecDerivId childForceId)

const linearalgebra::BaseMatrix *	getK ()

Public Member Functions inherited from sofa::core::Mapping< TIn, TOut >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(Mapping, TIn, TOut), BaseMapping)

virtual void	setModels (State< In > from, State< Out > to)
	Specify the input and output models. More...

bool	setFrom (BaseState *from) override
	If the type is compatible set the input model and return true, otherwise do nothing and return false. More...

bool	setTo (BaseState *to) override
	If the type is compatible set the output model and return true, otherwise do nothing and return false. More...

void	setPathInputObject (const std::string &o)
	Set the path to the objects mapped in the scene graph. More...

void	setPathOutputObject (const std::string &o)

State< In > *	getFromModel ()
	Return the pointer to the input model. More...

State< Out > *	getToModel ()
	Return the pointer to the output model. More...

type::vector< BaseState * >	getFrom () override
	Return the pointer to the input model. More...

type::vector< BaseState * >	getTo () override
	Return the pointer to the output model. More...

void	apply (const MechanicalParams *mparams, MultiVecCoordId outPos, ConstMultiVecCoordId inPos) override

virtual void	apply (const MechanicalParams *mparams, OutDataVecCoord &out, const InDataVecCoord &in)=0
	This method must be reimplemented by all mappings. More...

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

virtual void	applyJ (const MechanicalParams *mparams, OutDataVecDeriv &out, const InDataVecDeriv &in)=0
	This method must be reimplemented by all mappings. More...

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

virtual void	applyJT (const MechanicalParams *mparams, InDataVecDeriv &out, const OutDataVecDeriv &in)=0
	This method must be reimplemented by all mappings. More...

void	applyDJT (const MechanicalParams *, MultiVecDerivId, ConstMultiVecDerivId) override

void	applyJT (const ConstraintParams *cparams, MultiMatrixDerivId inConst, ConstMultiMatrixDerivId outConst) override
	ApplyJT (Constraint)///. More...

virtual void	applyJT (const ConstraintParams *, InDataMatrixDeriv &, 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

virtual void	computeAccFromMapping (const MechanicalParams *, OutDataVecDeriv &, const InDataVecDeriv &, const InDataVecDeriv &)
	This method must be reimplemented by all mappings if they need to support composite accelerations. More...

void	init () override
	Propagate positions and velocities to the output. More...

virtual type::vector< behavior::BaseMechanicalState * >	getMechFrom () override
	Get the source (upper) model. More...

virtual type::vector< behavior::BaseMechanicalState * >	getMechTo () override
	Get the destination (lower, mapped) model. More...

sofa::linearalgebra::BaseMatrix *	createMappedMatrix (const behavior::BaseMechanicalState state1, const behavior::BaseMechanicalState state2, func_createMappedMatrix) override

void	disable () override

Public Member Functions inherited from sofa::core::BaseMapping
	SOFA_ABSTRACT_CLASS (BaseMapping, objectmodel::BaseObject)

virtual bool	isLinear () const

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 *)

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...

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
	RigidMapping ()

virtual	~RigidMapping ()

unsigned int	getRigidIndex (unsigned int pointIndex) const

void	load (const char *filename)

const OutVecCoord &	getPoints ()

void	setJMatrixBlock (sofa::Index outIdx, sofa::Index inIdx)

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use m_matrixJ instead") DeprecatedAndRemoved matrixJ

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use m_updateJ instead") DeprecatedAndRemoved updateJ

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use m_eigenJacobian instead") DeprecatedAndRemoved eigenJacobian

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use m_eigenJacobians instead") DeprecatedAndRemoved eigenJacobians
	used by getJs More...

	SOFA_ATTRIBUTE_DISABLED ("v23.06", "v23.12", "Use m_geometricStiffnessMatrix instead") DeprecatedAndRemoved geometricStiffnessMatrix

Protected Member Functions inherited from sofa::core::Mapping< TIn, TOut >
	Mapping (State< In > from=nullptr, State< Out > to=nullptr)

	~Mapping () override
	Destructor. More...

Protected Member Functions inherited from sofa::core::BaseMapping
	BaseMapping ()
	Constructor. More...

	~BaseMapping () override
	Destructor. More...

bool	testMechanicalState (BaseState *state)

Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
	BaseObject ()

	~BaseObject () override

virtual void	doUpdateInternal ()
	Implementation of the internal update. More...

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
	This method insures that slaves objects have master and context links set correctly. More...

void	trackInternalData (const BaseData &data)
	Method called to add the Data to the DataTracker (listing the Data to track) More...

void	cleanTracker ()

bool	hasDataChanged (const BaseData &data)
	Method called to know if a tracked Data has changed. More...

Protected Member Functions inherited from sofa::core::objectmodel::Base
	Base ()

virtual	~Base ()

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, BaseData::DataFlags dataFlags)
	Helper method used by initData() More...

template<class T >
void	initData0 (Data< T > field, typename Data< T >::InitData &res, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

Protected Member Functions inherited from sofa::core::IntrusiveObject
virtual	~IntrusiveObject ()=default

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::Mapping< TIn, TOut >
template<class T >
static bool	canCreate (T &obj, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)

template<class T >
static T::SPtr	create (T , core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)

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

Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool	canCreate (T , BaseContext , BaseObjectDescription *)
	Pre-construction check method called by ObjectFactory. More...

template<class T >
static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

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

Attribute details

◆ d_fileRigidMapping

template<class TIn , class TOut >

sofa::core::objectmodel::DataFileName sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::d_fileRigidMapping

Filename.

◆ d_globalToLocalCoords

template<class TIn , class TOut >

Data<bool> sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::d_globalToLocalCoords

are the output DOFs initially expressed in global coordinates

◆ d_index

template<class TIn , class TOut >

Data<sofa::Index> sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::d_index

input DOF index

◆ d_indexFromEnd

template<class TIn , class TOut >

Data<bool> sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::d_indexFromEnd

input DOF index starts from the end of input DOFs vector

◆ d_points

template<class TIn , class TOut >

Data<OutVecCoord> sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::d_points

Local Coordinates of the points.

◆ d_rigidIndexPerPoint

template<class TIn , class TOut >

Data< type::vector<unsigned int> > sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::d_rigidIndexPerPoint

For each mapped point, the index of the Rigid it is mapped from.

◆ d_useX0

template<class TIn , class TOut >

Data<bool> sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::d_useX0

Use x0 instead of local copy of initial positions (to support topo changes)

◆ m_data

template<class TIn , class TOut >

RigidMappingInternalData<In, Out> sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::m_data

◆ m_eigenJacobian

template<class TIn , class TOut >

SparseMatrixEigen sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::m_eigenJacobian

protected

Jacobian of the mapping used by getJs.

◆ m_eigenJacobians

template<class TIn , class TOut >

type::vector<sofa::linearalgebra::BaseMatrix*> sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::m_eigenJacobians

protected

◆ m_geometricStiffnessMatrix

template<class TIn , class TOut >

StiffnessSparseMatrixEigen sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::m_geometricStiffnessMatrix

protected

◆ m_matrixJ

template<class TIn , class TOut >

std::unique_ptr<MatrixType> sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::m_matrixJ

protected

◆ m_rotatedPoints

template<class TIn , class TOut >

OutVecCoord sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::m_rotatedPoints

vectors from frame origin to mapped points, projected to world coordinates

◆ m_updateJ

template<class TIn , class TOut >

bool sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::m_updateJ

protected

Constructor details

◆ RigidMapping()

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::RigidMapping

protected

◆ ~RigidMapping()

template<class TIn , class TOut >

virtual sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::~RigidMapping ( )

inlineprotectedvirtual

Function details

◆ addPoint() [1/2]

template<class TIn , class TOut >

sofa::Size sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::addPoint ( const OutCoord & c )

◆ addPoint() [2/2]

template<class TIn , class TOut >

sofa::Size sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::addPoint	(	const OutCoord &	c,
		sofa::Index	indexFrom
	)

◆ apply()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::apply	(	const core::MechanicalParams *	mparams,
		Data< OutVecCoord > &	out,
		const Data< InVecCoord > &	in
	)

override

◆ applyDJT()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< 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()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::applyJ	(	const core::MechanicalParams *	mparams,
		Data< OutVecDeriv > &	out,
		const Data< InVecDeriv > &	in
	)

override

◆ applyJT() [1/2]

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::applyJT	(	const core::ConstraintParams *	cparams,
		Data< InMatrixDeriv > &	out,
		const Data< OutMatrixDeriv > &	in
	)

override

◆ applyJT() [2/2]

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::applyJT	(	const core::MechanicalParams *	mparams,
		Data< InVecDeriv > &	out,
		const Data< OutVecDeriv > &	in
	)

override

◆ buildGeometricStiffnessMatrix()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< 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

matrices The matrix to fill in with the geometric stiffness of the mapping

Reimplemented from sofa::core::BaseMapping.

◆ clear()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::clear ( sofa::Size reserve = 0 )

◆ draw()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::draw ( const core::visual::VisualParams * )

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getGlobalToLocalCoords() [1/2]

void sofa::component::mapping::nonlinear::RigidMapping< Rigid3Types, Rigid3Types >::getGlobalToLocalCoords	(	OutCoord &	result,
		const InCoord &	xFrom,
		const OutCoord &	xTo
	)

◆ getGlobalToLocalCoords() [2/2]

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::getGlobalToLocalCoords	(	OutCoord &	result,
		const InCoord &	xfrom,
		const OutCoord &	xto
	)

◆ getJ()

template<class TIn , class TOut >

const sofa::linearalgebra::BaseMatrix * sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::getJ

overridevirtual

Reimplemented from sofa::core::BaseMapping.

◆ getJs()

template<class TIn , class TOut >

const type::vector< sofa::linearalgebra::BaseMatrix * > * sofa::component::mapping::nonlinear::RigidMapping< 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() [1/3]

const linearalgebra::BaseMatrix * sofa::component::mapping::nonlinear::RigidMapping< sofa::defaulttype::Rigid2Types, sofa::defaulttype::Vec2Types >::getK ( )

virtual

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.

◆ getK() [2/3]

const linearalgebra::BaseMatrix * sofa::component::mapping::nonlinear::RigidMapping< sofa::defaulttype::Rigid2Types, sofa::defaulttype::Vec2Types >::getK ( )

virtual

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.

◆ getK() [3/3]

template<class TIn , class TOut >

const sofa::linearalgebra::BaseMatrix * sofa::component::mapping::nonlinear::RigidMapping< 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.

◆ getPoints()

template<class TIn , class TOut >

const RigidMapping< TIn, TOut >::OutVecCoord & sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::getPoints

protected

◆ getRigidIndex()

template<class TIn , class TOut >

sofa::Index sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::getRigidIndex ( unsigned int pointIndex ) const

protected

◆ init()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::init ( void )

overridevirtual

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

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

◆ load()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::load ( const char * filename )

protected

◆ parse()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::parse ( core::objectmodel::BaseObjectDescription * arg )

overridevirtual

Parse the given description to assign values to this object's fields and potentially other parameters.

Reimplemented from sofa::core::objectmodel::Base.

◆ reinit()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::reinit

overridevirtual

Compute the local coordinates based on the current output coordinates.

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

◆ setJMatrixBlock()

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::setJMatrixBlock	(	sofa::Index	outIdx,
		sofa::Index	inIdx
	)

protected

◆ setRepartition() [1/2]

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::setRepartition ( sofa::Size value )

to give the number of mapped points attached to each rigid frame

Warning: the mapped points must be sorted by their parent frame indices for backward compatibility with previous data structure

◆ setRepartition() [2/2]

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::setRepartition ( sofa::type::vector< sofa::Size > values )

◆ SOFA_ATTRIBUTE_DISABLED() [1/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use d_fileRigidMapping< TIn, TOut > instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [2/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use d_globalToLocalCoords instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [3/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use d_index instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [4/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use d_indexFromEnd instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [5/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use d_points instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [6/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use d_rigidIndexPerPoint instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [7/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use d_useX0 instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [8/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use m_data instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [9/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use m_eigenJacobian instead"
	)

protected

◆ SOFA_ATTRIBUTE_DISABLED() [10/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use m_eigenJacobians instead"
	)

protected

used by getJs

◆ SOFA_ATTRIBUTE_DISABLED() [11/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use m_geometricStiffnessMatrix instead"
	)

protected

◆ SOFA_ATTRIBUTE_DISABLED() [12/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use m_matrixJ instead"
	)

protected

◆ SOFA_ATTRIBUTE_DISABLED() [13/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use m_rotatedPoints instead"
	)

◆ SOFA_ATTRIBUTE_DISABLED() [14/14]

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_ATTRIBUTE_DISABLED	(	"v23.06"	,
		"v23.12"	,
		"Use m_updateJ instead"
	)

protected

◆ SOFA_CLASS()

template<class TIn , class TOut >

sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::SOFA_CLASS	(	SOFA_TEMPLATE2(RigidMapping< TIn, TOut >, TIn, TOut)	,
		SOFA_TEMPLATE2(core::Mapping, TIn, TOut)
	)

◆ updateK() [1/3]

void sofa::component::mapping::nonlinear::RigidMapping< sofa::defaulttype::Rigid2Types, sofa::defaulttype::Vec2Types >::updateK	(	const core::MechanicalParams *	,
		core::ConstMultiVecDerivId
	)

virtual

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.

◆ updateK() [2/3]

void sofa::component::mapping::nonlinear::RigidMapping< sofa::defaulttype::Rigid2Types, sofa::defaulttype::Vec2Types >::updateK	(	const core::MechanicalParams *	,
		core::ConstMultiVecDerivId
	)

virtual

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.

◆ updateK() [3/3]

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< 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.

◆ updateOmega() [1/2]

void sofa::component::mapping::nonlinear::RigidMapping< Rigid3Types, Rigid3Types >::updateOmega	(	typename InDeriv::Rot &	omega,
		const OutDeriv &	out,
		const OutCoord &	rotatedpoint
	)

◆ updateOmega() [2/2]

template<class TIn , class TOut >

void sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >::updateOmega	(	typename InDeriv::Rot &	omega,
		const OutDeriv &	out,
		const OutCoord &	rotatedpoint
	)

Enum details

◆ anonymous enum

template<class TIn , class TOut >

anonymous enum

Enumerator
N

◆ anonymous enum

template<class TIn , class TOut >

anonymous enum

Enumerator
NIn

◆ anonymous enum

template<class TIn , class TOut >

anonymous enum

Enumerator
NOut

Classes

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ d_fileRigidMapping

◆ d_globalToLocalCoords

◆ d_index

◆ d_indexFromEnd

◆ d_points

◆ d_rigidIndexPerPoint

◆ d_useX0

◆ m_data

◆ m_eigenJacobian

◆ m_eigenJacobians

◆ m_geometricStiffnessMatrix

◆ m_matrixJ

◆ m_rotatedPoints

◆ m_updateJ

Constructor details

◆ RigidMapping()

◆ ~RigidMapping()

Function details

◆ addPoint() [1/2]

◆ addPoint() [2/2]

◆ apply()

◆ applyDJT()

◆ applyJ()

◆ applyJT() [1/2]

◆ applyJT() [2/2]

◆ buildGeometricStiffnessMatrix()

◆ clear()

◆ draw()

◆ getGlobalToLocalCoords() [1/2]

◆ getGlobalToLocalCoords() [2/2]

◆ getJ()

◆ getJs()

◆ getK() [1/3]

◆ getK() [2/3]

◆ getK() [3/3]

◆ getPoints()

◆ getRigidIndex()

◆ init()

◆ load()

◆ parse()

◆ reinit()

◆ setJMatrixBlock()

◆ setRepartition() [1/2]

◆ setRepartition() [2/2]

◆ SOFA_ATTRIBUTE_DISABLED() [1/14]

◆ SOFA_ATTRIBUTE_DISABLED() [2/14]

◆ SOFA_ATTRIBUTE_DISABLED() [3/14]

◆ SOFA_ATTRIBUTE_DISABLED() [4/14]

◆ SOFA_ATTRIBUTE_DISABLED() [5/14]

◆ SOFA_ATTRIBUTE_DISABLED() [6/14]

◆ SOFA_ATTRIBUTE_DISABLED() [7/14]

◆ SOFA_ATTRIBUTE_DISABLED() [8/14]

◆ SOFA_ATTRIBUTE_DISABLED() [9/14]

◆ SOFA_ATTRIBUTE_DISABLED() [10/14]

◆ SOFA_ATTRIBUTE_DISABLED() [11/14]

◆ SOFA_ATTRIBUTE_DISABLED() [12/14]

◆ SOFA_ATTRIBUTE_DISABLED() [13/14]

◆ SOFA_ATTRIBUTE_DISABLED() [14/14]

◆ SOFA_CLASS()

◆ updateK() [1/3]

◆ updateK() [2/3]

◆ updateK() [3/3]

◆ updateOmega() [1/2]

◆ updateOmega() [2/2]

Enum details

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum