#include <Mapping.h>
Specialized interface to convert a model state of type TIn to a model state of type TOut. This is basically a sofa::core::BaseMapping with given input and output types. More...
Specialized interface to convert a model state of type TIn to a model state of type TOut. This is basically a sofa::core::BaseMapping with given input and output types.
Public Attributes | |
Data< bool > | f_applyRestPosition |
![]() | |
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... | |
![]() | |
Data< bool > | f_listening |
if true, handle the events, otherwise ignore the events More... | |
![]() | |
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} |
Protected Attributes | |
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... | |
![]() | |
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > | l_context |
LinkSlaves | l_slaves |
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK > | l_master |
![]() | |
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_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 |
![]() | |
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::BaseMatrix * | getJ (const MechanicalParams *) |
virtual const sofa::linearalgebra::BaseMatrix * | getJ () |
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 () |
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) |
![]() | |
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 | 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 () |
![]() | |
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) |
Static Public Member Functions | |
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) |
![]() | |
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 const BaseClass * | GetClass () |
template<class T > | |
static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
Protected Member Functions | |
Mapping (State< In > *from=nullptr, State< Out > *to=nullptr) | |
~Mapping () override | |
Destructor. More... | |
![]() | |
BaseMapping () | |
Constructor. More... | |
~BaseMapping () override | |
Destructor. More... | |
bool | testMechanicalState (BaseState *state) |
![]() | |
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... | |
![]() | |
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... | |
Data<bool> sofa::core::Mapping< TIn, TOut >::f_applyRestPosition |
by default rest position are NOT propagated to mapped dofs. In some cases, rest pos is needed for mapped dofs (generally when this dof is used to compute mechanics). In that case, Data applyRestPosition must be setted to true for all the mappings until the desired dof.
|
protected |
Input Model, also called parent.
|
protected |
Output Model, also called child.
|
protected |
Constructor, taking input and output models as parameters.
Note that if you do not specify these models here, you must call setModels with non-nullptr value before the intialization (i.e. before init() is called).
|
overrideprotected |
Destructor.
|
overridevirtual |
Apply /// Apply the mapping to position vectors.
If the Mapping can be represented as a matrix J, this method computes $ out = J in $
Implements sofa::core::BaseMapping.
|
pure virtual |
This method must be reimplemented by all mappings.
Implemented in sofa::component::mapping::linear::SkinningMapping< TIn, TOut >, sofa::component::mapping::linear::LineSetSkinningMapping< TIn, TOut >, sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >, sofa::component::mapping::linear::SubsetMapping< TIn, TOut >, sofa::component::mapping::linear::TubularMapping< TIn, TOut >, and sofa::component::mapping::linear::SimpleTesselatedTetraMechanicalMapping< TIn, TOut >.
|
overridevirtual |
ApplyDJT (Force)/// Apply the change of force due to the nonlinearity of the mapping and the last propagated displacement. Also called geometric stiffness. The default implementation does nothing, assuming a linear mapping.
This method computes , where
is the parent force and
is the child force. where J is the tangent operator (the linear approximation) of the mapping The child force is accessed in the child state using mparams->readF() . This requires that the child force vector is used by the solver to compute the force
corresponding to the current positions and velocities, and not to store auxiliary values. The displacement is accessed in the parent state using mparams->readDx() . This method generally corresponds to a symmetric stiffness matrix, but with rotations (which are not a commutative group) it is not the case. Since some solvers (including the Conjugate Gradient) require symmetric matrices, a flag is set in the MechanicalParams to say if symmetric matrices are required. If so, non-symmetric geometric stiffness should not be applied.
Implements sofa::core::BaseMapping.
|
overridevirtual |
ApplyJ /// Apply the mapping to derived (velocity, displacement) vectors. $ out = J in $ where J is the tangent operator (the linear approximation) of the mapping
Implements sofa::core::BaseMapping.
|
pure virtual |
This method must be reimplemented by all mappings.
Implemented in sofa::component::mapping::linear::SkinningMapping< TIn, TOut >, sofa::component::mapping::linear::LineSetSkinningMapping< TIn, TOut >, sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >, sofa::component::mapping::linear::SubsetMapping< TIn, TOut >, sofa::component::mapping::linear::TubularMapping< TIn, TOut >, and sofa::component::mapping::linear::SimpleTesselatedTetraMechanicalMapping< TIn, TOut >.
|
inlinevirtual |
This method must be reimplemented by all mappings if they need to support constraints.
Reimplemented in sofa::component::mapping::linear::LineSetSkinningMapping< TIn, TOut >, sofa::component::mapping::linear::SkinningMapping< TIn, TOut >, sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >, sofa::component::mapping::linear::SimpleTesselatedTetraMechanicalMapping< TIn, TOut >, sofa::component::mapping::linear::SubsetMapping< TIn, TOut >, and sofa::component::mapping::linear::TubularMapping< TIn, TOut >.
|
overridevirtual |
ApplyJT (Constraint)///.
Implements sofa::core::BaseMapping.
|
pure virtual |
This method must be reimplemented by all mappings.
Implemented in sofa::component::mapping::linear::SkinningMapping< TIn, TOut >, sofa::component::mapping::linear::LineSetSkinningMapping< TIn, TOut >, sofa::component::mapping::linear::CenterOfMassMapping< TIn, TOut >, sofa::component::mapping::linear::SubsetMapping< TIn, TOut >, sofa::component::mapping::linear::TubularMapping< TIn, TOut >, and sofa::component::mapping::linear::SimpleTesselatedTetraMechanicalMapping< TIn, TOut >.
|
overridevirtual |
ApplyJT (Force)/// Apply the reverse mapping to force vectors. $ out += J^t in $ where J is the tangent operator (the linear approximation) of the mapping
Implements sofa::core::BaseMapping.
|
inlinestatic |
Pre-construction check method called by ObjectFactory.
This implementation read the input and output attributes and check if they are compatible with the input and output model types of this mapping.
|
inlinevirtual |
This method must be reimplemented by all mappings if they need to support composite accelerations.
|
overridevirtual |
computeAccFromMapping Compute the acceleration of the child, based on the acceleration and the velocity of the parent. Let be the velocity of the child given the velocity of the parent, then the acceleration is
. The second term is null in linear mappings, otherwise it encodes the acceleration due to the change of mapping at constant parent velocity. For instance, in a rigid mapping with angular velocity
, the second term is $ w^(w^rel_pos) $
Implements sofa::core::BaseMapping.
|
inlinestatic |
Construction method called by ObjectFactory.
This implementation read the input and output attributes to find the input and output models of this mapping.
|
overridevirtual |
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 from sofa::core::BaseMapping.
|
overridevirtual |
Disable the mapping to get the original coordinates of the mapped model.
It is for instance used in RigidMapping to get the local coordinates of the object.
Implements sofa::core::BaseMapping.
|
overridevirtual |
Return the pointer to the input model.
Implements sofa::core::BaseMapping.
State< In > * sofa::core::Mapping< In, Out >::getFromModel |
Return the pointer to the input model.
|
overridevirtual |
Get the source (upper) model.
Implements sofa::core::BaseMapping.
|
overridevirtual |
Get the destination (lower, mapped) model.
Implements sofa::core::BaseMapping.
|
overridevirtual |
Return the pointer to the output model.
Implements sofa::core::BaseMapping.
State< Out > * sofa::core::Mapping< In, Out >::getToModel |
Return the pointer to the output model.
|
overridevirtual |
Propagate positions and velocities to the output.
TO REMOVE> FF:why would we remove this, is there any alternative function ?
Reimplemented from sofa::core::objectmodel::BaseObject.
|
overridevirtual |
If the type is compatible set the input model and return true, otherwise do nothing and return false.
Reimplemented from sofa::core::BaseMapping.
|
virtual |
Specify the input and output models.
|
inline |
Set the path to the objects mapped in the scene graph.
|
inline |
|
overridevirtual |
If the type is compatible set the output model and return true, otherwise do nothing and return false.
Reimplemented from sofa::core::BaseMapping.
|
inlinestatic |
sofa::core::Mapping< TIn, TOut >::SOFA_ABSTRACT_CLASS | ( | SOFA_TEMPLATE2(Mapping< TIn, TOut >, TIn, TOut) | , |
BaseMapping< TIn, TOut > | |||
) |