#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...

Inheritance diagram for sofa::core::Mapping< TIn, TOut >:

[legend]

Detailed Description

template<class TIn, class TOut>
class sofa::core::Mapping< TIn, TOut >

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

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
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...

DeprecatedAndRemoved	m_componentstate {}

DeprecatedAndRemoved	d_componentstate {}

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...

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_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	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 ()

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	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	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)

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)

Protected Member Functions
	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...

Attribute details

◆ f_applyRestPosition

template<class TIn , class TOut >

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.

◆ fromModel

template<class TIn , class TOut >

SingleLink<Mapping<In,Out>, State< In >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> sofa::core::Mapping< TIn, TOut >::fromModel

protected

Input Model, also called parent.

◆ toModel

template<class TIn , class TOut >

SingleLink<Mapping<In,Out>, State< Out >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> sofa::core::Mapping< TIn, TOut >::toModel

protected

Output Model, also called child.

Constructor details

◆ Mapping()

template<class In , class Out >

sofa::core::Mapping< In, Out >::Mapping	(	State< In > *	from = `nullptr`,
		State< Out > *	to = `nullptr`
	)

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).

◆ ~Mapping()

template<class In , class Out >

sofa::core::Mapping< In, Out >::~Mapping

overrideprotected

Destructor.

Function details

◆ apply() [1/2]

template<class In , class Out >

void sofa::core::Mapping< In, Out >::apply	(	const MechanicalParams *	mparams,
		MultiVecCoordId	outPos,
		ConstMultiVecCoordId	inPos
	)

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.

◆ apply() [2/2]

template<class TIn , class TOut >

virtual void sofa::core::Mapping< TIn, TOut >::apply	(	const MechanicalParams *	mparams,
		OutDataVecCoord &	out,
		const InDataVecCoord &	in
	)

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 >.

◆ applyDJT()

template<class In , class Out >

void sofa::core::Mapping< In, Out >::applyDJT	(	const MechanicalParams *	,
		MultiVecDerivId	,
		ConstMultiVecDerivId
	)

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 $ f_p += dJ^t f_c $ , where $ f_p $ is the parent force and $ f_c $ 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 $ f(x,v)$ 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.

◆ applyJ() [1/2]

template<class In , class Out >

void sofa::core::Mapping< In, Out >::applyJ	(	const MechanicalParams *	mparams,
		MultiVecDerivId	outVel,
		ConstMultiVecDerivId	inVel
	)

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.

◆ applyJ() [2/2]

template<class TIn , class TOut >

virtual void sofa::core::Mapping< TIn, TOut >::applyJ	(	const MechanicalParams *	mparams,
		OutDataVecDeriv &	out,
		const InDataVecDeriv &	in
	)

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 >.

◆ applyJT() [1/4]

template<class TIn , class TOut >

virtual void sofa::core::Mapping< TIn, TOut >::applyJT	(	const ConstraintParams *	,
		InDataMatrixDeriv &	,
		const OutDataMatrixDeriv &
	)

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 >.

◆ applyJT() [2/4]

template<class In , class Out >

void sofa::core::Mapping< In, Out >::applyJT	(	const ConstraintParams *	cparams,
		MultiMatrixDerivId	inConst,
		ConstMultiMatrixDerivId	outConst
	)

overridevirtual

ApplyJT (Constraint)///.

Implements sofa::core::BaseMapping.

◆ applyJT() [3/4]

template<class TIn , class TOut >

virtual void sofa::core::Mapping< TIn, TOut >::applyJT	(	const MechanicalParams *	mparams,
		InDataVecDeriv &	out,
		const OutDataVecDeriv &	in
	)

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 >.

◆ applyJT() [4/4]

template<class In , class Out >

void sofa::core::Mapping< In, Out >::applyJT	(	const MechanicalParams *	mparams,
		MultiVecDerivId	inForce,
		ConstMultiVecDerivId	outForce
	)

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.

◆ canCreate()

template<class TIn , class TOut >

template<class T >

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

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.

◆ computeAccFromMapping() [1/2]

template<class TIn , class TOut >

virtual void sofa::core::Mapping< TIn, TOut >::computeAccFromMapping	(	const MechanicalParams *	,
		OutDataVecDeriv &	,
		const InDataVecDeriv &	,
		const InDataVecDeriv &
	)

inlinevirtual

This method must be reimplemented by all mappings if they need to support composite accelerations.

◆ computeAccFromMapping() [2/2]

template<class In , class Out >

void sofa::core::Mapping< In, Out >::computeAccFromMapping	(	const MechanicalParams *	mparams,
		MultiVecDerivId	outAcc,
		ConstMultiVecDerivId	inVel,
		ConstMultiVecDerivId	inAcc
	)

overridevirtual

computeAccFromMapping Compute the acceleration of the child, based on the acceleration and the velocity of the parent. Let $ v_c = J v_p $ be the velocity of the child given the velocity of the parent, then the acceleration is $ a_c = J a_p + dJ v_p $ . 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 $ w $ , the second term is $ w^(w^rel_pos) $

Implements sofa::core::BaseMapping.

◆ create()

template<class TIn , class TOut >

template<class T >

static T::SPtr sofa::core::Mapping< TIn, TOut >::create	(	T *	,
		core::objectmodel::BaseContext *	context,
		core::objectmodel::BaseObjectDescription *	arg
	)

inlinestatic

Construction method called by ObjectFactory.

This implementation read the input and output attributes to find the input and output models of this mapping.

◆ createMappedMatrix()

template<class In , class Out >

sofa::linearalgebra::BaseMatrix * sofa::core::Mapping< In, Out >::createMappedMatrix	(	const behavior::BaseMechanicalState *	state1,
		const behavior::BaseMechanicalState *	state2,
		func_createMappedMatrix
	)

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.

◆ disable()

template<class In , class Out >

void sofa::core::Mapping< In, Out >::disable

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.

◆ getFrom()

template<class In , class Out >

type::vector< BaseState * > sofa::core::Mapping< In, Out >::getFrom

overridevirtual

Return the pointer to the input model.

Implements sofa::core::BaseMapping.

◆ getFromModel()

template<class In , class Out >

State< In > * sofa::core::Mapping< In, Out >::getFromModel

Return the pointer to the input model.

◆ getMechFrom()

template<class In , class Out >

type::vector< behavior::BaseMechanicalState * > sofa::core::Mapping< In, Out >::getMechFrom

overridevirtual

Get the source (upper) model.

Implements sofa::core::BaseMapping.

◆ getMechTo()

template<class In , class Out >

type::vector< behavior::BaseMechanicalState * > sofa::core::Mapping< In, Out >::getMechTo

overridevirtual

Get the destination (lower, mapped) model.

Implements sofa::core::BaseMapping.

◆ getTo()

template<class TIn , class TOut >

type::vector<BaseState*> sofa::core::Mapping< TIn, TOut >::getTo ( )

overridevirtual

Return the pointer to the output model.

Implements sofa::core::BaseMapping.

◆ getToModel()

template<class In , class Out >

State< Out > * sofa::core::Mapping< In, Out >::getToModel

Return the pointer to the output model.

◆ init()

template<class In , class Out >

void sofa::core::Mapping< In, Out >::init

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.

◆ setFrom()

template<class In , class Out >

bool sofa::core::Mapping< In, Out >::setFrom ( BaseState * from )

overridevirtual

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

Reimplemented from sofa::core::BaseMapping.

◆ setModels()

template<class In , class Out >

void sofa::core::Mapping< In, Out >::setModels	(	State< In > *	from,
		State< Out > *	to
	)

virtual

Specify the input and output models.

◆ setPathInputObject()

template<class TIn , class TOut >

void sofa::core::Mapping< TIn, TOut >::setPathInputObject ( const std::string & o )

inline

Set the path to the objects mapped in the scene graph.

◆ setPathOutputObject()

template<class TIn , class TOut >

void sofa::core::Mapping< TIn, TOut >::setPathOutputObject ( const std::string & o )

inline

◆ setTo()

template<class In , class Out >

bool sofa::core::Mapping< In, Out >::setTo ( BaseState * to )

overridevirtual

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

Reimplemented from sofa::core::BaseMapping.

◆ shortName()

template<class TIn , class TOut >

template<class T >

static std::string sofa::core::Mapping< TIn, TOut >::shortName	(	const T *	ptr = `nullptr`,
		objectmodel::BaseObjectDescription *	arg = `nullptr`
	)

inlinestatic

◆ SOFA_ABSTRACT_CLASS()

template<class TIn , class TOut >

sofa::core::Mapping< TIn, TOut >::SOFA_ABSTRACT_CLASS	(	SOFA_TEMPLATE2(Mapping< TIn, TOut >, TIn, TOut)	,
		BaseMapping< TIn, TOut >
	)

Detailed Description

template<class TIn, class TOut> class sofa::core::Mapping< TIn, TOut >

Public Attributes

Protected Attributes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Attribute details

◆ f_applyRestPosition

◆ fromModel

◆ toModel

Constructor details

◆ Mapping()

◆ ~Mapping()

Function details

◆ apply() [1/2]

◆ apply() [2/2]

◆ applyDJT()

◆ applyJ() [1/2]

◆ applyJ() [2/2]

◆ applyJT() [1/4]

◆ applyJT() [2/4]

◆ applyJT() [3/4]

◆ applyJT() [4/4]

◆ canCreate()

◆ computeAccFromMapping() [1/2]

◆ computeAccFromMapping() [2/2]

◆ create()

◆ createMappedMatrix()

◆ disable()

◆ getFrom()

◆ getFromModel()

◆ getMechFrom()

◆ getMechTo()

◆ getTo()

◆ getToModel()

◆ init()

◆ setFrom()

◆ setModels()

◆ setPathInputObject()

◆ setPathOutputObject()

◆ setTo()

◆ shortName()

◆ SOFA_ABSTRACT_CLASS()

template<class TIn, class TOut>
class sofa::core::Mapping< TIn, TOut >