SOFA API  f8107965
Open source framework for multi-physics simuation
sofa::core::Mapping< TIn, TOut > Class Template Referenceabstract

#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 >:

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< 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
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
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::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. 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...
 
ForceMaskmaskFrom
 keep an eye on the dof masks (if the dofs are Mechanical) More...
 
ForceMaskmaskTo
 
- 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
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...
 
helper::vector< BaseState * > getFrom () override
 Return the pointer to the input model. More...
 
helper::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 helper::vector< behavior::BaseMechanicalState * > getMechFrom () override
 Get the source (upper) model. More...
 
virtual helper::vector< behavior::BaseMechanicalState * > getMechTo () override
 Get the destination (lower, mapped) model. More...
 
sofa::defaulttype::BaseMatrixcreateMappedMatrix (const behavior::BaseMechanicalState *state1, const behavior::BaseMechanicalState *state2, func_createMappedMatrix) override
 
void disable () override
 
virtual std::string getTemplateName () const override
 Get the template type names (if any) used to instantiate this object. More...
 
- 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::defaulttype::BaseMatrixgetJ (const MechanicalParams *)
 
virtual const sofa::defaulttype::BaseMatrixgetJ ()
 
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 helper::vector< sofa::defaulttype::BaseMatrix * > * getJs ()
 
virtual void updateK (const MechanicalParams *, ConstMultiVecDerivId)
 
virtual const defaulttype::BaseMatrixgetK ()
 
- 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)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const
 Return the full path name of this object. More...
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
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)
 
void copyAspect (int destAspect, int srcAspect) override
 Copy the source aspect to the destination aspect for each Data in the component. More...
 
void releaseAspect (int aspect) override
 Release memory allocated for the specified aspect. More...
 
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
 
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...
 
virtual 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...
 
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
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
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 (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 removeLink (BaseLink *l)
 Remove 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)
 

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)
 
static std::string templateName (const Mapping< TIn, TOut > *=nullptr)
 
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 MyClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
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...
 
void updateForceMask () override
 
- 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, unsigned int, 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

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.

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.

template<class TIn, class TOut>
ForceMask* sofa::core::Mapping< TIn, TOut >::maskFrom
protected

keep an eye on the dof masks (if the dofs are Mechanical)

template<class TIn, class TOut>
ForceMask * sofa::core::Mapping< TIn, TOut >::maskTo
protected
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

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).

template<class In , class Out >
sofa::core::Mapping< In, Out >::~Mapping ( )
overrideprotected

Destructor.

Function details

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.

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.

Reimplemented in sofa::component::mapping::RigidMapping< TIn, TOut >, and sofa::component::mapping::RigidRigidMapping< TIn, TOut >.

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.

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.

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.

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.

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.

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.

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.

template<class In , class Out >
sofa::defaulttype::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.

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.

template<class In , class Out >
helper::vector< BaseState * > sofa::core::Mapping< In, Out >::getFrom ( )
overridevirtual

Return the pointer to the input model.

Implements sofa::core::BaseMapping.

template<class In , class Out >
State< In > * sofa::core::Mapping< In, Out >::getFromModel ( )

Return the pointer to the input model.

template<class In , class Out >
helper::vector< behavior::BaseMechanicalState * > sofa::core::Mapping< In, Out >::getMechFrom ( )
overridevirtual

Get the source (upper) model.

Implements sofa::core::BaseMapping.

template<class In , class Out >
helper::vector< behavior::BaseMechanicalState * > sofa::core::Mapping< In, Out >::getMechTo ( )
overridevirtual

Get the destination (lower, mapped) model.

Implements sofa::core::BaseMapping.

template<class TIn, class TOut>
virtual std::string sofa::core::Mapping< TIn, TOut >::getTemplateName ( ) const
inlineoverridevirtual

Get the template type names (if any) used to instantiate this object.

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

template<class In , class Out >
helper::vector< BaseState * > sofa::core::Mapping< In, Out >::getTo ( )
overridevirtual

Return the pointer to the output model.

TO REMOVE> Necessary ?

Implements sofa::core::BaseMapping.

template<class In , class Out >
State< Out > * sofa::core::Mapping< In, Out >::getToModel ( )

Return the pointer to the output model.

template<class In , class Out >
void sofa::core::Mapping< In, Out >::init ( void  )
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.

Reimplemented in sofa::component::mapping::RigidMapping< TIn, TOut >, and sofa::component::mapping::RigidRigidMapping< TIn, TOut >.

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.

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.

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.

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

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
template<class TIn, class TOut>
sofa::core::Mapping< TIn, TOut >::SOFA_ABSTRACT_CLASS ( SOFA_TEMPLATE2(Mapping< TIn, TOut >, TIn, TOut)  ,
BaseMapping< TIn, TOut >   
)
template<class In, class Out>
std::string sofa::core::Mapping< In, Out >::templateName ( const Mapping< In, Out > *  = nullptr)
static
template<class In , class Out >
void sofa::core::Mapping< In, Out >::updateForceMask ( )
overrideprotectedvirtual

Useful when the mapping is applied only on a subset of parent dofs. It is automatically called by applyJT.

That way, we can optimize Jacobian sparsity. Every Dofs are inserted by default. The mappings using only a subset of dofs should only insert these dofs in the mask.

Implements sofa::core::BaseMapping.

Reimplemented in sofa::component::mapping::RigidRigidMapping< TIn, TOut >.