SOFA API  7352f41a
Open source framework for multi-physics simuation
sofa::component::mapping::nonlinear::SquareDistanceMapping< TIn, TOut > Class Template Reference

#include <SquareDistanceMapping.h>

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

Detailed Description

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

Maps point positions to square distances. Type TOut corresponds to a scalar value. The pairs are given in an EdgeSetTopologyContainer in the same node.

In: parent point positions Out: square distance between point pairs, minus a square rest distance.

No restLength (imposed null rest length) for now TODO: compute Jacobians for non null restLength

Author
Matthieu Nesme

Public Attributes

Data< Reald_showObjectScale
 drawing size More...
 
Data< sofa::type::RGBAColord_color
 drawing color More...
 
SingleLink< SquareDistanceMapping< 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::Mapping< TIn, TOut >
Data< boolf_applyRestPosition
 
- Public Attributes inherited from sofa::core::BaseMapping
Data< boolf_mapForces
 Are forces mapped ? More...
 
Data< boolf_mapConstraints
 Are constraints mapped ? More...
 
Data< boolf_mapMasses
 Are masses mapped ? More...
 
Data< boolf_mapMatrices
 Are matrix explicit mapped? More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
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 objet belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state 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

SparseMatrixEigen jacobian
 Jacobian of the mapping. More...
 
type::vector< linearalgebra::BaseMatrix * > baseMatrices
 Jacobian of the mapping, in a vector. More...
 
SparseKMatrixEigen K
 Assembled geometric stiffness matrix. More...
 
- Protected Attributes inherited from sofa::core::Mapping< TIn, TOut >
SingleLink< Mapping< In, Out >, State< In >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKfromModel
 Input Model, also called parent. More...
 
SingleLink< Mapping< In, Out >, State< Out >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKtoModel
 Output Model, also called child. More...
 
- 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(SquareDistanceMapping, TIn, TOut), SOFA_TEMPLATE2(core::Mapping, TIn, TOut))
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. 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::BaseMatrixgetJ () override
 
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, OutDataVecCoord &out, const InDataVecCoord &in)=0
 This method must be reimplemented by all mappings. More...
 
- 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::BaseMatrixcreateMappedMatrix (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 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 *)
 
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

 SquareDistanceMapping ()
 
virtual ~SquareDistanceMapping ()
 
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::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::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 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::SquareDistanceMapping< 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::SquareDistanceMapping< TIn, TOut >::d_color

drawing color

◆ d_showObjectScale

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

drawing size

◆ jacobian

template<class TIn , class TOut >
SparseMatrixEigen sofa::component::mapping::nonlinear::SquareDistanceMapping< TIn, TOut >::jacobian
protected

Jacobian of the mapping.

◆ K

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

Assembled geometric stiffness matrix.

◆ l_topology

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

Constructor details

◆ SquareDistanceMapping()

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

◆ ~SquareDistanceMapping()

template<class TIn , class TOut >
sofa::component::mapping::nonlinear::SquareDistanceMapping< TIn, TOut >::~SquareDistanceMapping
protectedvirtual

Function details

◆ apply() [1/3]

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

◆ apply() [2/3]

template<class TIn , class TOut >
void sofa::core::Mapping< 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() [3/3]

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

This method must be reimplemented by all mappings.

◆ applyDJT()

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

Render internal data of this object, for debugging purposes.

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

◆ getJ()

template<class TIn , class TOut >
const sofa::linearalgebra::BaseMatrix * sofa::component::mapping::nonlinear::SquareDistanceMapping< 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::SquareDistanceMapping< 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::SquareDistanceMapping< 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::SquareDistanceMapping< 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::SquareDistanceMapping< TIn, TOut >::SOFA_CLASS ( SOFA_TEMPLATE2(SquareDistanceMapping< TIn, TOut >, TIn, TOut)  ,
SOFA_TEMPLATE2(core::Mapping, TIn, TOut)   
)

◆ updateK()

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