#include <BaseMapping.h>

Inheritance diagram for sofa::core::BaseMapping:

Detailed Description

An interface to convert a model state to an other model state. The model states are positions and velocities or generalizations of these (class sofa::core::BaseState). The source is denoted using various names: from, input, master, parent… The target is denoted using various names: to, output, slave, child… The mapping must be located somewhere between the master and the slave, so that the visitors traverse it after the master and before the slave during the top-down traversals, and the other way round during the bottom-up traversals. It is typically located in the same graph node as the slave, with the master in the parent node, but this is not a must. Mappings typically store constant local coordinates of the output points, and update the output points by applying input displacements to the local coordinates.

Public Attributes
Data< bool >	f_mapForces
	Are forces mapped ? More...

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

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

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

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

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

Data< int >	d_messageLogCount

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

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

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the objet belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	the object state More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Public Member Functions
	SOFA_ABSTRACT_CLASS (BaseMapping, objectmodel::BaseObject)

virtual void	apply (const MechanicalParams *mparams=mechanicalparams::defaultInstance(), MultiVecCoordId outPos=VecCoordId::position(), ConstMultiVecCoordId inPos=ConstVecCoordId::position())=0
	Apply the transformation from the input model to the output model (like apply displacement from BehaviorModel to VisualModel) More...

virtual void	applyJ (const MechanicalParams *mparams=mechanicalparams::defaultInstance(), MultiVecDerivId outVel=VecDerivId::velocity(), ConstMultiVecDerivId inVel=ConstVecDerivId::velocity())=0
	Compute output velocity based on input velocity, using the linearized transformation (tangent operator). Also used to propagate small displacements. More...

virtual type::vector< BaseState * >	getFrom ()=0
	Accessor to the input model of this mapping. More...

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 type::vector< BaseState * >	getTo ()=0
	Accessor to the output model of this mapping. 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)

virtual type::vector< behavior::BaseMechanicalState * >	getMechFrom ()=0
	Get the source (upper) mechanical state. More...

virtual type::vector< behavior::BaseMechanicalState * >	getMechTo ()=0
	Get the destination (lower, mapped) mechanical state. More...

virtual void	disable ()=0
	Disable the mapping to get the original coordinates of the mapped model. More...

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

Mechanical mapping API
Methods related to the transmission of forces
virtual void	applyJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce)=0

virtual void	applyDJT (const MechanicalParams *mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce)=0
	Accumulate a change of parent force due to the change of the mapping, for a constant child force. Null for linear mappings. More...

virtual void	applyJT (const ConstraintParams *mparams, MultiMatrixDerivId inConst, ConstMultiMatrixDerivId outConst)=0
	Propagate constraint Jacobians upward. More...

virtual void	computeAccFromMapping (const MechanicalParams *mparams, MultiVecDerivId outAcc, ConstMultiVecDerivId inVel, ConstMultiVecDerivId inAcc)=0

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 ()

API for global matrix assembly (used in the Compliant plugin)
virtual const type::vector< sofa::linearalgebra::BaseMatrix * > *	getJs ()

virtual void	updateK (const MechanicalParams *, ConstMultiVecDerivId)

virtual const linearalgebra::BaseMatrix *	getK ()

virtual void	buildGeometricStiffnessMatrix (sofa::core::GeometricStiffnessMatrix *matrices)
	Assembles the geometric stiffness matrix of the mapping in the provided matrix object. More...

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

virtual void	draw (const core::visual::VisualParams *)
	Render internal data of this object, for debugging purposes. More...

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

virtual void	bwdInit ()
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

virtual void	reinit ()
	Update method called when variables used in precomputation are modified. More...

void	updateInternal ()
	Update method called when variables (used to compute other internal variables) are modified. More...

virtual void	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

virtual void	cleanup ()

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

const std::string &	getName () const
	Accessor to the object name. More...

void	setName (const std::string &n)
	Set the name of this object. More...

void	setName (const std::string &n, int counter)
	Set the name of this object, adding an integer counter. More...

std::string	getTypeName () const
	Get the type name of this object (i.e. class and template types) More...

virtual std::string	getClassName () const
	Get the class name of this object. More...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate this object. More...

void	setDefinitionSourceFileName (const std::string &sourceFileName)
	Set the source filename (where the component is implemented) More...

const std::string &	getDefinitionSourceFileName () const
	Get the source filename (where the component is implemented) More...

void	setDefinitionSourceFilePos (const int)
	Set the source location (where the component is implemented) More...

int	getDefinitionSourceFilePos () const
	Get the source location (where the component is implemented) More...

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

void	addMessage (const sofa::helper::logging::Message &m) const

size_t	countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

const std::deque< sofa::helper::logging::Message > &	getLoggedMessages () const

const std::string	getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

void	clearLoggedMessages () const

bool	notMuted () const

const sofa::core::objectmodel::TagSet &	getTags () const
	Represents the subsets the object belongs to. More...

bool	hasTag (Tag t) const
	Return true if the object belong to the given subset. More...

void	addTag (Tag t)
	Add a subset qualification to the object. More...

void	removeTag (Tag t)
	Remove a subset qualification to the object. More...

ComponentState	getComponentState () const

bool	isComponentStateValid () const

virtual bool	parseField (const std::string &attribute, const std::string &value)
	Assign one field value (Data or Link) More...

virtual bool	hasField (const std::string &attribute) const
	Check if a given Data field or Link exists. More...

void	parseFields (const std::list< std::string > &str)
	Assign the field values stored in the given list of name + value pairs of strings. More...

virtual void	parseFields (const std::map< std::string, std::string * > &str)
	Assign the field values stored in the given map of name -> value pairs. More...

void	writeDatas (std::map< std::string, std::string * > &str)
	Write the current field values to the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (const std::string &name) const

std::vector< BaseData * >	findGlobalField (const std::string &name) const
	Find data fields given a name: several can be found as we look into the alias map. More...

BaseLink *	findLink (const std::string &name) const

std::vector< BaseLink * >	findLinks (const std::string &name) const
	Find link fields given a name: several can be found as we look into the alias map. More...

virtual void	updateLinks (bool logErrors=true)
	Update pointers in case the pointed-to objects have appeared. More...

template<class T >
BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
BaseData::BaseInitData	initData (Data< T > field, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
Data< T >::InitData	initData (Data< T > field, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

void	addData (BaseData *f, const std::string &name)

void	addData (BaseData *f)

void	removeData (BaseData *f)
	Remove a data field. More...

void	addAlias (BaseData field, const char alias)
	Add an alias to a Data. More...

void	addLink (BaseLink *l)
	Add a link. More...

void	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () const
	Accessor to the map containing all the aliases of this object. More...

virtual bool	findDataLinkDest (BaseData &ptr, const std::string &path, const BaseLink link)

template<class T >
bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

Protected Member Functions
	BaseMapping ()
	Constructor. More...

	~BaseMapping () override
	Destructor. More...

bool	testMechanicalState (BaseState *state)

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

	~BaseObject () override

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

void	changeContextLink (BaseContext before, BaseContext &after)

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

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

void	cleanTracker ()

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

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

virtual	~Base ()

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

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

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

Additional Inherited Members
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...

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

◆ f_mapConstraints

Data<bool> sofa::core::BaseMapping::f_mapConstraints

Are constraints mapped ?

◆ f_mapForces

Data<bool> sofa::core::BaseMapping::f_mapForces

Are forces mapped ?

◆ f_mapMasses

Data<bool> sofa::core::BaseMapping::f_mapMasses

Are masses mapped ?

◆ f_mapMatrices

Data<bool> sofa::core::BaseMapping::f_mapMatrices

Are matrix explicit mapped?

Constructor details

◆ BaseMapping()

sofa::core::BaseMapping::BaseMapping ( )

protected

Constructor.

◆ ~BaseMapping()

sofa::core::BaseMapping::~BaseMapping ( )

overrideprotected

Destructor.

Function details

◆ apply()

virtual void sofa::core::BaseMapping::apply	(	const MechanicalParams *	mparams = `mechanicalparams::defaultInstance()`,
		MultiVecCoordId	outPos = `VecCoordId::position()`,
		ConstMultiVecCoordId	inPos = `ConstVecCoordId::position()`
	)

pure virtual

Apply the transformation from the input model to the output model (like apply displacement from BehaviorModel to VisualModel)

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ applyDJT()

virtual void sofa::core::BaseMapping::applyDJT	(	const MechanicalParams *	mparams,
		MultiVecDerivId	inForce,
		ConstMultiVecDerivId	outForce
	)

pure virtual

Accumulate a change of parent force due to the change of the mapping, for a constant child force. Null for linear mappings.

◆ applyJ()

virtual void sofa::core::BaseMapping::applyJ	(	const MechanicalParams *	mparams = `mechanicalparams::defaultInstance()`,
		MultiVecDerivId	outVel = `VecDerivId::velocity()`,
		ConstMultiVecDerivId	inVel = `ConstVecDerivId::velocity()`
	)

pure virtual

Compute output velocity based on input velocity, using the linearized transformation (tangent operator). Also used to propagate small displacements.

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ applyJT() [1/2]

virtual void sofa::core::BaseMapping::applyJT	(	const ConstraintParams *	mparams,
		MultiMatrixDerivId	inConst,
		ConstMultiMatrixDerivId	outConst
	)

pure virtual

Propagate constraint Jacobians upward.

Implemented in sofa::component::mapping::linear::VoidMapping, sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, and sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >.

◆ applyJT() [2/2]

virtual void sofa::core::BaseMapping::applyJT	(	const MechanicalParams *	mparams,
		MultiVecDerivId	inForce,
		ConstMultiVecDerivId	outForce
	)

pure virtual

Accumulate child force in the parent force. In implicit methods, this is also used to accumulate a change of child force to a change of parent force.

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ areConstraintsMapped()

bool sofa::core::BaseMapping::areConstraintsMapped ( ) const

virtual

◆ areForcesMapped()

bool sofa::core::BaseMapping::areForcesMapped ( ) const

virtual

◆ areMassesMapped()

bool sofa::core::BaseMapping::areMassesMapped ( ) const

virtual

◆ areMatricesMapped()

bool sofa::core::BaseMapping::areMatricesMapped ( ) const

virtual

◆ buildGeometricStiffnessMatrix()

void sofa::core::BaseMapping::buildGeometricStiffnessMatrix ( sofa::core::GeometricStiffnessMatrix * matrices )

virtual

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 in sofa::component::mapping::nonlinear::SquareMapping< TIn, TOut >, sofa::component::mapping::nonlinear::SquareDistanceMapping< TIn, TOut >, sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceMapping< TIn, TOut >, and sofa::component::mapping::nonlinear::DistanceFromTargetMapping< TIn, TOut >.

◆ computeAccFromMapping()

virtual void sofa::core::BaseMapping::computeAccFromMapping	(	const MechanicalParams *	mparams,
		MultiVecDerivId	outAcc,
		ConstMultiVecDerivId	inVel,
		ConstMultiVecDerivId	inAcc
	)

pure virtual

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ createMappedMatrix()

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

virtual

Create a matrix for mapped mechanical objects If the two mechanical objects is identical, create a new stiffness matrix for this mapped objects If the two mechanical objects is different, create a new interaction matrix

Reimplemented in sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, and sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >.

◆ disable()

virtual void sofa::core::BaseMapping::disable ( )

pure virtual

Disable the mapping to get the original coordinates of the mapped model.

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ getFrom()

virtual type::vector<BaseState*> sofa::core::BaseMapping::getFrom ( )

pure virtual

Accessor to the input model of this mapping.

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ getJ() [1/2]

const sofa::linearalgebra::BaseMatrix * sofa::core::BaseMapping::getJ ( )

virtual

Reimplemented in sofa::component::mapping::nonlinear::SquareMapping< TIn, TOut >, sofa::component::mapping::nonlinear::SquareDistanceMapping< TIn, TOut >, sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceFromTargetMapping< TIn, TOut >, sofa::component::mapping::linear::SubsetMapping< TIn, TOut >, sofa::component::mapping::linear::SkinningMapping< TIn, TOut >, sofa::component::mapping::linear::IdentityMapping< TIn, TOut >, sofa::component::mapping::linear::BeamLinearMapping< TIn, TOut >, and sofa::component::mapping::linear::BarycentricMapping< TIn, TOut >.

◆ getJ() [2/2]

const sofa::linearalgebra::BaseMatrix * sofa::core::BaseMapping::getJ ( const MechanicalParams * )

virtual

Get the (sparse) jacobian matrix of this mapping, as used in applyJ/applyJT. This matrix should have as many columns as DOFs in the input mechanical states (one after the other in case of multi-mappings), and as many lines as DOFs in the output mechanical states.

applyJ(out, in) should be equivalent to $out = J in$. applyJT(out, in) should be equivalent to $out = J^T in$.

Get the (sparse) jacobian matrix of this mapping, as used in applyJ/applyJT. This matrix should have as many columns as DOFs in the input mechanical states (one after the other in case of multi-mappings), and as many lines as DOFs in the output mechanical states.

applyJ(out, in) should be equivalent to $out = J in$. applyJT(out, in) should be equivalent to $out = J^T in$.

@TODO Note that if the mapping provides this matrix, then a default implementation of all other related methods could be provided, or optionally used to verify the provided implementations for debugging.

◆ getJs()

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

inlinevirtual

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

◆ getK()

virtual const linearalgebra::BaseMatrix* sofa::core::BaseMapping::getK ( )

inlinevirtual

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 in sofa::component::mapping::nonlinear::SquareMapping< TIn, TOut >, sofa::component::mapping::nonlinear::SquareDistanceMapping< TIn, TOut >, sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceFromTargetMapping< TIn, TOut >, sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >, and sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >.

◆ getMechFrom()

virtual type::vector<behavior::BaseMechanicalState*> sofa::core::BaseMapping::getMechFrom ( )

pure virtual

Get the source (upper) mechanical state.

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ getMechTo()

virtual type::vector<behavior::BaseMechanicalState*> sofa::core::BaseMapping::getMechTo ( )

pure virtual

Get the destination (lower, mapped) mechanical state.

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ getTo()

virtual type::vector<BaseState*> sofa::core::BaseMapping::getTo ( )

pure virtual

Accessor to the output model of this mapping.

Implemented in sofa::core::MultiMapping< TIn, TOut >, sofa::core::MultiMapping< In, Out >, sofa::core::Multi2Mapping< TIn1, TIn2, TOut >, sofa::core::Multi2Mapping< TIn, TInRoot, TOut >, sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >, and sofa::component::mapping::linear::VoidMapping.

◆ insertInNode()

bool sofa::core::BaseMapping::insertInNode ( objectmodel::BaseNode * )

overridevirtual

the component can insert itself directly in the right sequence in the Node so the Node does not have to test its type against all known types

Returns: true if the component was inserted

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

◆ isMechanical()

bool sofa::core::BaseMapping::isMechanical ( ) const

virtual

Return true if this mapping should be used as a mechanical mapping.

◆ removeInNode()

bool sofa::core::BaseMapping::removeInNode ( objectmodel::BaseNode * )

overridevirtual

the component can remove itself directly in the right sequence in the Node so the Node does not have to test its type against all known types

Returns: true if the component was removed

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

◆ sameTopology()

virtual bool sofa::core::BaseMapping::sameTopology ( ) const

inlinevirtual

Return true if the destination model has the same topology as the source model.

This is the case for mapping keeping a one-to-one correspondance between input and output DOFs (mostly identity or data-conversion mappings).

Reimplemented in sofa::component::mapping::linear::IdentityMapping< TIn, TOut >, and sofa::component::mapping::linear::DeformableOnRigidFrameMapping< TIn, TInRoot, TOut >.

◆ setConstraintsMapped()

void sofa::core::BaseMapping::setConstraintsMapped ( bool b )

virtual

◆ setForcesMapped()

void sofa::core::BaseMapping::setForcesMapped ( bool b )

virtual

◆ setFrom()

bool sofa::core::BaseMapping::setFrom ( BaseState * from )

virtual

If the type is compatible set the input model and return true, otherwise do nothing and return false.

Reimplemented in sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, and sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >.

◆ setMassesMapped()

void sofa::core::BaseMapping::setMassesMapped ( bool b )

virtual

◆ setMatricesMapped()

void sofa::core::BaseMapping::setMatricesMapped ( bool b )

virtual

◆ setNonMechanical()

void sofa::core::BaseMapping::setNonMechanical ( )

virtual

◆ setTo()

bool sofa::core::BaseMapping::setTo ( BaseState * to )

virtual

If the type is compatible set the output model and return true, otherwise do nothing and return false.

Reimplemented in sofa::core::Mapping< TIn, TOut >, sofa::core::Mapping< In, Out >, and sofa::core::Mapping< defaulttype::Vec3Types, DataTypes >.

◆ SOFA_ABSTRACT_CLASS()

sofa::core::BaseMapping::SOFA_ABSTRACT_CLASS	(	BaseMapping	,
		objectmodel::BaseObject
	)

◆ testMechanicalState()

bool sofa::core::BaseMapping::testMechanicalState ( BaseState * state )

protected

◆ updateK()

virtual void sofa::core::BaseMapping::updateK	(	const MechanicalParams *	,
		ConstMultiVecDerivId
	)

inlinevirtual

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

Reimplemented in sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >, sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >, sofa::component::mapping::nonlinear::SquareMapping< TIn, TOut >, sofa::component::mapping::nonlinear::SquareDistanceMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceMultiMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceMapping< TIn, TOut >, sofa::component::mapping::nonlinear::DistanceFromTargetMapping< TIn, TOut >, and sofa::component::mapping::nonlinear::RigidMapping< TIn, TOut >.

Detailed Description

Public Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ f_mapConstraints

◆ f_mapForces

◆ f_mapMasses

◆ f_mapMatrices

Constructor details

◆ BaseMapping()

◆ ~BaseMapping()

Function details

◆ apply()

◆ applyDJT()

◆ applyJ()

◆ applyJT() [1/2]

◆ applyJT() [2/2]

◆ areConstraintsMapped()

◆ areForcesMapped()

◆ areMassesMapped()

◆ areMatricesMapped()

◆ buildGeometricStiffnessMatrix()

◆ computeAccFromMapping()

◆ createMappedMatrix()

◆ disable()

◆ getFrom()

◆ getJ() [1/2]

◆ getJ() [2/2]

◆ getJs()

◆ getK()

◆ getMechFrom()

◆ getMechTo()

◆ getTo()

◆ insertInNode()

◆ isMechanical()

◆ removeInNode()

◆ sameTopology()

◆ setConstraintsMapped()

◆ setForcesMapped()

◆ setFrom()

◆ setMassesMapped()

◆ setMatricesMapped()

◆ setNonMechanical()

◆ setTo()

◆ SOFA_ABSTRACT_CLASS()

◆ testMechanicalState()

◆ updateK()